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posNED to pos and velNED to vel and add ev vel covariances to reset

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kamilritz
2019-09-24 07:48:46 +10:00
committed by Paul Riseborough
parent 4f6ca3a74c
commit fd6b364c11
4 changed files with 14 additions and 14 deletions
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EKF/ekf_helper.cpp
+7 -7
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@@ -95,14 +95,14 @@ bool Ekf::resetVelocity()
// reset the horizontal velocity variance using the optical flow noise variance
P[5][5] = P[4][4] = sq(range) * calcOptFlowMeasVar();
} else if (_control_status.flags.ev_vel) {
Vector3f _ev_vel = _ev_sample_delayed.velNED;
Vector3f _ev_vel = _ev_sample_delayed.vel;
if(_params.fusion_mode & MASK_ROTATE_EV){
_ev_vel = _ev_rot_mat *_ev_sample_delayed.velNED;
_ev_vel = _ev_rot_mat *_ev_sample_delayed.vel;
}
_state.vel(0) = _ev_vel(0);
_state.vel(1) = _ev_vel(1);
_state.vel(2) = _ev_vel(2);
// TODO: to what should we set the covariances?
setDiag(P, 4, 6, sq(_ev_sample_delayed.velErr));
} else if (_control_status.flags.ev_pos) {
_state.vel.setZero();
zeroOffDiag(P, 4, 6);
@@ -156,9 +156,9 @@ bool Ekf::resetPosition()
} else if (_control_status.flags.ev_pos) {
// this reset is only called if we have new ev data at the fusion time horizon
Vector3f _ev_pos = _ev_sample_delayed.posNED;
Vector3f _ev_pos = _ev_sample_delayed.pos;
if(_params.fusion_mode & MASK_ROTATE_EV){
_ev_pos = _ev_rot_mat *_ev_sample_delayed.posNED;
_ev_pos = _ev_rot_mat *_ev_sample_delayed.pos;
}
_state.pos(0) = _ev_pos(0);
_state.pos(1) = _ev_pos(1);
@@ -308,10 +308,10 @@ void Ekf::resetHeight()
vert_pos_reset = true;
if (std::abs(dt_newest) < std::abs(dt_delayed)) {
_state.pos(2) = ev_newest.posNED(2);
_state.pos(2) = ev_newest.pos(2);
} else {
_state.pos(2) = _ev_sample_delayed.posNED(2);
_state.pos(2) = _ev_sample_delayed.pos(2);
}
}