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EKF: add vertical position derivative output

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Add calculation of a vertical position derivative to the output predictor. This will have degraded tracking relative to the EKF states, but the velocity will be closer to the first derivative of the position and reduce the effect inertial prediction errors on control loops that are operating in a pure velocity feedback mode.
Move calculation of IMU offset angular rate correction out of velocity accessor and into output predictor.
Provide separate accessor for vertical position derivative.
This commit is contained in:
Paul Riseborough
2017-04-23 09:04:00 +10:00
parent a17879ab91
commit fed4a9bc5a
5 changed files with 155 additions and 45 deletions
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EKF/estimator_interface.cpp
+3 -1
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@@ -379,7 +379,8 @@ bool EstimatorInterface::initialise_interface(uint64_t timestamp)
_flow_buffer.allocate(_obs_buffer_length) &&
_ext_vision_buffer.allocate(_obs_buffer_length) &&
_drag_buffer.allocate(_obs_buffer_length) &&
_output_buffer.allocate(_imu_buffer_length))) {
_output_buffer.allocate(_imu_buffer_length) &&
_output_vert_buffer.allocate(_imu_buffer_length))) {
ECL_ERR("EKF buffer allocation failed!");
unallocate_buffers();
return false;
@@ -448,6 +449,7 @@ void EstimatorInterface::unallocate_buffers()
_flow_buffer.unallocate();
_ext_vision_buffer.unallocate();
_output_buffer.unallocate();
_output_vert_buffer.unallocate();
}