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AP_NavEKF2: Fix timing offset in position reset calculation

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the correction for GPS latency now uses the correct time for that observation
This commit is contained in:
Paul Riseborough 2015-11-06 09:41:42 +11:00
parent 803817821d
commit d6f7156f4e
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp
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@ -62,8 +62,8 @@ void NavEKF2_core::ResetPosition(void)
stateStruct.position.y = lastKnownPositionNE.y; stateStruct.position.y = lastKnownPositionNE.y;
} else if (!gpsNotAvailable) { } else if (!gpsNotAvailable) {
// write to state vector and compensate for offset between last GPs measurement and the EKF time horizon // write to state vector and compensate for offset between last GPs measurement and the EKF time horizon
stateStruct.position.x = gpsDataNew.pos.x + 0.001f*gpsDataNew.vel.x*(float(imuDataDelayed.time_ms) - float(lastTimeGpsReceived_ms)); stateStruct.position.x = gpsDataNew.pos.x + 0.001f*gpsDataNew.vel.x*(float(imuDataDelayed.time_ms) - float(gpsDataNew.time_ms));
stateStruct.position.y = gpsDataNew.pos.y + 0.001f*gpsDataNew.vel.y*(float(imuDataDelayed.time_ms) - float(lastTimeGpsReceived_ms)); stateStruct.position.y = gpsDataNew.pos.y + 0.001f*gpsDataNew.vel.y*(float(imuDataDelayed.time_ms) - float(gpsDataNew.time_ms));
} }
for (uint8_t i=0; i<IMU_BUFFER_LENGTH; i++) { for (uint8_t i=0; i<IMU_BUFFER_LENGTH; i++) {
storedOutput[i].position.x = stateStruct.position.x; storedOutput[i].position.x = stateStruct.position.x;