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publishing velocity and position to control state in ekf2 

Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
This commit is contained in:
Sebastian Verling 2016-04-04 16:59:50 +02:00 committed by tumbili
parent b1b8ab62a3
commit 184a2fa7de
1 changed files with 19 additions and 0 deletions
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19
src/modules/ekf2/ekf2_main.cpp
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@ -529,6 +529,25 @@ void Ekf2::task_main()
ctrl_state.pitch_rate = _lp_pitch_rate.apply(sensors.gyro_rad_s[1]);
ctrl_state.yaw_rate = _lp_yaw_rate.apply(sensors.gyro_rad_s[2]);
/* Velocity in Body Frame */
float velocity[3];
_ekf->copy_velocity(velocity);
Vector3f v_n(velocity);
matrix::Dcm<float> Tnb(q);
Vector3f v_b = Tnb * v_n;
ctrl_state.x_vel = v_b(0);
ctrl_state.y_vel = v_b(1);
ctrl_state.z_vel = v_b(2);
/* Local Position */
float position[3];
_ekf->copy_position(position);
ctrl_state.x_pos = position[0];
ctrl_state.y_pos = position[1];
ctrl_state.z_pos = position[2];
ctrl_state.q[0] = q(0);
ctrl_state.q[1] = q(1);
ctrl_state.q[2] = q(2);