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ekf2: initialize cos tilt variable assuming no tilt

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bresch
2022-01-19 09:04:53 -05:00
committed by Daniel Agar
parent 92a5bbe97f
commit ffebd8e771
1 changed files with 1 additions and 1 deletions
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src/modules/ekf2/EKF/sensor_range_finder.hpp
+1 -1
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@@ -141,7 +141,7 @@ private:
/* /*
* Tilt check * Tilt check
*/ */
float _cos_tilt_rng_to_earth{}; ///< 2,2 element of the rotation matrix from sensor frame to earth frame float _cos_tilt_rng_to_earth{1.f}; ///< 2,2 element of the rotation matrix from sensor frame to earth frame
float _range_cos_max_tilt{0.7071f}; ///< cosine of the maximum tilt angle from the vertical that permits use of range finder and flow data float _range_cos_max_tilt{0.7071f}; ///< cosine of the maximum tilt angle from the vertical that permits use of range finder and flow data
float _pitch_offset_rad{3.14f}; ///< range finder tilt rotation about the Y body axis float _pitch_offset_rad{3.14f}; ///< range finder tilt rotation about the Y body axis
float _sin_pitch_offset{0.0f}; ///< sine of the range finder tilt rotation about the Y body axis float _sin_pitch_offset{0.0f}; ///< sine of the range finder tilt rotation about the Y body axis