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AP_NavEKF2: Correct range finder data for body frame position offset

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priseborough 2016-10-12 09:26:51 +11:00 committed by Andrew Tridgell
parent e884e9cc6e
commit 16f021c466
1 changed files with 9 additions and 0 deletions
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9
libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp
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@ -650,6 +650,15 @@ void NavEKF2_core::selectHeightForFusion()
readRangeFinder(); readRangeFinder();
rangeDataToFuse = storedRange.recall(rangeDataDelayed,imuDataDelayed.time_ms); rangeDataToFuse = storedRange.recall(rangeDataDelayed,imuDataDelayed.time_ms);
// correct range data for the body frame position offset relative to the IMU
// the corrected reading is the reading that would have been taken if the sensor was
// co-located with the IMU
if (rangeDataToFuse) {
Vector3f posOffsetBody = rangeDataDelayed.body_offset - accelPosOffset;
Vector3f posOffsetEarth = prevTnb.mul_transpose(posOffsetBody);
rangeDataDelayed.rng += posOffsetEarth.z / prevTnb.c.z;
}
// read baro height data from the sensor and check for new data in the buffer // read baro height data from the sensor and check for new data in the buffer
readBaroData(); readBaroData();
baroDataToFuse = storedBaro.recall(baroDataDelayed, imuDataDelayed.time_ms); baroDataToFuse = storedBaro.recall(baroDataDelayed, imuDataDelayed.time_ms);