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AP_NavEKF: Update optical flow fusion maths to reduce height errors

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Paul Riseborough 2015-04-08 07:00:40 +10:00 committed by Andrew Tridgell
parent 2e04effd4d
commit c57e25142c
2 changed files with 76 additions and 72 deletions
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142
libraries/AP_NavEKF/AP_NavEKF.cpp
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6
libraries/AP_NavEKF/AP_NavEKF.h
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@ -48,6 +48,7 @@ public:
#if defined(MATH_CHECK_INDEXES) && (MATH_CHECK_INDEXES == 1) #if defined(MATH_CHECK_INDEXES) && (MATH_CHECK_INDEXES == 1)
typedef VectorN<ftype,2> Vector2; typedef VectorN<ftype,2> Vector2;
typedef VectorN<ftype,3> Vector3; typedef VectorN<ftype,3> Vector3;
typedef VectorN<ftype,4> Vector4;
typedef VectorN<ftype,5> Vector5; typedef VectorN<ftype,5> Vector5;
typedef VectorN<ftype,6> Vector6; typedef VectorN<ftype,6> Vector6;
typedef VectorN<ftype,8> Vector8; typedef VectorN<ftype,8> Vector8;
@ -67,6 +68,7 @@ public:
#else #else
typedef ftype Vector2[2]; typedef ftype Vector2[2];
typedef ftype Vector3[3]; typedef ftype Vector3[3];
typedef ftype Vector4[4];
typedef ftype Vector5[5]; typedef ftype Vector5[5];
typedef ftype Vector6[6]; typedef ftype Vector6[6];
typedef ftype Vector8[8]; typedef ftype Vector8[8];
@ -700,8 +702,8 @@ private:
// to level computational load as this can be an expensive operation // to level computational load as this can be an expensive operation
struct { struct {
uint8_t obsIndex; uint8_t obsIndex;
Vector5 SH_LOS; Vector4 SH_LOS;
Vector9 SK_LOS; Vector10 SK_LOS;
ftype q0; ftype q0;
ftype q1; ftype q1;
ftype q2; ftype q2;