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Added compensation for VI sensor offset. Check sign.

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devbharat
2016-05-14 21:17:29 +10:00
committed by Paul Riseborough
parent e917d6c7f2
commit ff8f03b5dd
2 changed files with 9 additions and 0 deletions
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EKF/common.h
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@@ -249,6 +249,7 @@ struct parameters {
Vector3f gps_pos_body; // xyz position of the GPS antenna in body frame (m)
Vector3f rng_pos_body; // xyz position of range sensor in body frame (m)
Vector3f flow_pos_body; // xyz position of range sensor focal point in body frame (m)
Vector3f visn_pos_body; // xyz position of VI-sensor focal point in body frame (m)
// output complementary filter tuning
float vel_Tau; // velocity state correction time constant (1/sec)
@@ -333,6 +334,7 @@ struct parameters {
gps_pos_body = {};
rng_pos_body = {};
flow_pos_body = {};
visn_pos_body = {};
// output complementary filter tuning time constants
vel_Tau = 0.5f;