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Refactor velocity reset (#788)

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* Refactor velocity reset

* Add unit tests for velocity resets

* Expand updates to vertical buffer to velocity resets outside of resetHeight

* Improve matrix library usage

* Improve naming of vertical output samples

* Fix update of output_vert_new during reset

* Improve naming of vertical output samples 2
This commit is contained in:
kritz
2020-04-08 16:39:15 +02:00
committed by GitHub
parent 47624a0f02
commit fa5a00d871
13 changed files with 259 additions and 78 deletions
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test/sensor_simulator/sensor_simulator.cpp
+2 -2
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@@ -104,7 +104,7 @@ void SensorSimulator::loadSensorDataFromFile(std::string file_name)
_has_replay_data = true;
}
void SensorSimulator::setSensorDataToDefault()
void SensorSimulator::setSensorRateToDefault()
{
_imu.setRateHz(250);
_mag.setRateHz(80);
@@ -115,7 +115,7 @@ void SensorSimulator::setSensorDataToDefault()
_vio.setRateHz(30);
_airspeed.setRateHz(100);
}
void SensorSimulator::setSensorRateToDefault()
void SensorSimulator::setSensorDataToDefault()
{
_imu.setData(Vector3f{0.0f,0.0f,-CONSTANTS_ONE_G},
Vector3f{0.0f,0.0f,0.0f});