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AP_IntertialNav: ensure we work on valid updated data

This commit is contained in:
Tom Pittenger 2016-03-01 10:05:59 -08:00 committed by Randy Mackay
parent 38b3625ed8
commit c0a6a94936
1 changed files with 12 additions and 11 deletions
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23
libraries/AP_InertialNav/AP_InertialNav_NavEKF.cpp
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@ -17,25 +17,26 @@
void AP_InertialNav_NavEKF::update(float dt) void AP_InertialNav_NavEKF::update(float dt)
{ {
// get the position relative to the local earth frame origin // get the position relative to the local earth frame origin
_ahrs_ekf.get_relative_position_NED(_relpos_cm); if (_ahrs_ekf.get_relative_position_NED(_relpos_cm)) {
_relpos_cm *= 100; // convert to cm _relpos_cm *= 100; // convert to cm
_relpos_cm.z = - _relpos_cm.z; // InertialNav is NEU
}
// get the absolute WGS-84 position // get the absolute WGS-84 position
_haveabspos = _ahrs_ekf.get_position(_abspos); _haveabspos = _ahrs_ekf.get_position(_abspos);
// get the velocity relative to the local earth frame // get the velocity relative to the local earth frame
_ahrs_ekf.get_velocity_NED(_velocity_cm); if (_ahrs_ekf.get_velocity_NED(_velocity_cm)) {
_velocity_cm *= 100; // convert to cm/s _velocity_cm *= 100; // convert to cm/s
_velocity_cm.z = -_velocity_cm.z; // InertialNav is NEU
}
// Get a derivative of the vertical position which is kinematically consistent with the vertical position is required by some control loops. // Get a derivative of the vertical position which is kinematically consistent with the vertical position is required by some control loops.
// This is different to the vertical velocity from the EKF which is not always consistent with the verical position due to the various errors that are being corrected for. // This is different to the vertical velocity from the EKF which is not always consistent with the verical position due to the various errors that are being corrected for.
_ahrs_ekf.get_vert_pos_rate(_pos_z_rate); if (_ahrs_ekf.get_vert_pos_rate(_pos_z_rate)) {
_pos_z_rate *= 100; // convert to cm/s _pos_z_rate *= 100; // convert to cm/s
_pos_z_rate = - _pos_z_rate; // InertialNav is NEU
// InertialNav is NEU }
_relpos_cm.z = - _relpos_cm.z;
_velocity_cm.z = -_velocity_cm.z;
_pos_z_rate = - _pos_z_rate;
} }
/** /**