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AP_NavEKF: Publish the INS delta quaternion

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Paul Riseborough 2015-04-27 21:42:28 +10:00 committed by Randy Mackay
parent d273302ce7
commit 5dc29699ab
2 changed files with 18 additions and 0 deletions
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14
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -677,6 +677,11 @@ bool NavEKF::InitialiseFilterBootstrap(void)
// Update Filter States - this should be called whenever new IMU data is available // Update Filter States - this should be called whenever new IMU data is available
void NavEKF::UpdateFilter() void NavEKF::UpdateFilter()
{ {
// zero the delta quaternion used by the strapdown navigation because it is published
// and we need to return a zero rotation of the INS fails to update it
memset(&correctedDelAngQuat[0], 0, sizeof(correctedDelAngQuat));
correctedDelAngQuat[0] = 1.0f;
// don't run filter updates if states have not been initialised // don't run filter updates if states have not been initialised
if (!statesInitialised) { if (!statesInitialised) {
return; return;
@ -5101,4 +5106,13 @@ bool NavEKF::getHeightControlLimit(float &height) const
} }
} }
// provides the delta quaternion that was used by the INS calculation to rotate from the previous orientation to the orientation at the current time
// the delta quaternion returned will be a zero rotation if the INS calculation was not performed on that time step
Quaternion NavEKF::getDeltaQuaternion(void) const
{
// Note: correctedDelAngQuat is reset to a zero rotation at the start of every update cycle in UpdateFilter()
return correctedDelAngQuat;
}
#endif // HAL_CPU_CLASS #endif // HAL_CPU_CLASS

4
libraries/AP_NavEKF/AP_NavEKF.h
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@ -247,6 +247,10 @@ public:
// this is needed to ensure the vehicle does not fly too high when using optical flow navigation // this is needed to ensure the vehicle does not fly too high when using optical flow navigation
bool getHeightControlLimit(float &height) const; bool getHeightControlLimit(float &height) const;
// provides the quaternion that was used by the INS calculation to rotate from the previous orientation to the orientaion at the current time step
// returns a zero rotation quaternion if the INS calculation was not performed on that time step.
Quaternion getDeltaQuaternion(void) const;
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
private: private: