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EKF: fix bug in state prediction

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Paul Riseborough
2016-05-05 21:23:03 +10:00
parent 63f093a10a
commit ffea65e1a4
1 changed files with 1 additions and 2 deletions
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EKF/ekf.cpp
+1 -2
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@@ -518,8 +518,7 @@ void Ekf::predictState()
Vector3f corrected_delta_vel = _imu_sample_delayed.delta_vel - _state.accel_bias;
// correct delta angles for earth rotation rate
corrected_delta_ang = _imu_sample_delayed.delta_ang - _R_to_earth.transpose() * _earth_rate_NED *
_imu_sample_delayed.delta_ang_dt;
corrected_delta_ang -= -_R_to_earth.transpose() * _earth_rate_NED * _imu_sample_delayed.delta_ang_dt;
// convert the delta angle to a delta quaternion
Quaternion dq;