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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/ekf.cpp
+7
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@@ -309,6 +309,13 @@ bool Ekf::update()
if (_control_status.flags.ev_pos) {
_fuse_pos = true;
_fuse_height = true;
// correct position and height for offset relative to IMU
Vector3f pos_offset_body = _params.visn_pos_body - _params.imu_pos_body;
Vector3f pos_offset_earth = _R_to_earth * pos_offset_body;
_ev_sample_delayed.posNED(0) -= pos_offset_earth(0);
_ev_sample_delayed.posNED(1) -= pos_offset_earth(1);
_ev_sample_delayed.posNED(2) -= pos_offset_earth(2); // + or - ?
}
// use external vision yaw observation
if (_control_status.flags.ev_yaw) {