aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_GPS: added comment explaining the approach

Browse Source
This commit is contained in:
Andrew Tridgell 2021-04-20 10:54:26 +10:00 committed by Peter Barker
parent 8bc31ec5e9
commit dd86e0cc89
1 changed files with 6 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
libraries/AP_GPS/GPS_Backend.cpp
View File

@ -358,7 +358,12 @@ bool AP_GPS_Backend::calculate_moving_base_yaw(const float reported_heading_deg,
get_lag(lag);
// get vehicle rotation, projected back in time using the gyro
auto &ahrs = AP::ahrs();
// this is not 100% accurate, but it is good enough for
// this test. To do it completely accurately we'd need an
// interface into DCM, EKF2 and EKF3 to ask for a
// historical attitude. That is far too complex to justify
// for this use case
const auto &ahrs = AP::ahrs();
const Vector3f &gyro = ahrs.get_gyro();
Matrix3f rot_body_to_ned = ahrs.get_rotation_body_to_ned();
rot_body_to_ned.rotate(gyro * (-lag));