dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Add vision height covariance passthrough (#507) 

* Add vision height covariance passthrough

* Fix hgtErr layout
This commit is contained in:
Dion Gonano 2018-09-10 16:36:13 -04:00 committed by Paul Riseborough
parent a7245229cb
commit 2354c30d81
3 changed files with 6 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
EKF/common.h
View File

@ -80,7 +80,8 @@ struct flow_message {
struct ext_vision_message {
Vector3f posNED; ///< measured NED position relative to the local origin (m)
Quatf quat; ///< measured quaternion orientation defining rotation from NED to body frame
float posErr; ///< 1-Sigma spherical position accuracy (m)
float posErr; ///< 1-Sigma horizontal position accuracy (m)
float hgtErr; ///< 1-Sigma height accuracy (m)
float angErr; ///< 1-Sigma angular error (rad)
};
@ -148,7 +149,8 @@ struct flowSample {
struct extVisionSample {
Vector3f posNED; ///< measured NED position relative to the local origin (m)
Quatf quat; ///< measured quaternion orientation defining rotation from NED to body frame
float posErr; ///< 1-Sigma spherical position accuracy (m)
float posErr; ///< 1-Sigma horizontal position accuracy (m)
float hgtErr; ///< 1-Sigma height accuracy (m)
float angErr; ///< 1-Sigma angular error (rad)
uint64_t time_us; ///< timestamp of the measurement (uSec)
};

1
EKF/estimator_interface.cpp
View File

@ -436,6 +436,7 @@ void EstimatorInterface::setExtVisionData(uint64_t time_usec, ext_vision_message
// copy required data
ev_sample_new.angErr = evdata->angErr;
ev_sample_new.posErr = evdata->posErr;
ev_sample_new.hgtErr = evdata->hgtErr;
ev_sample_new.quat = evdata->quat;
ev_sample_new.posNED = evdata->posNED;

2
EKF/vel_pos_fusion.cpp
View File

@ -149,7 +149,7 @@ void Ekf::fuseVelPosHeight()
// calculate the innovation assuming the external vision observaton is in local NED frame
innovation[5] = _state.pos(2) - _ev_sample_delayed.posNED(2);
// observation variance - defined externally
R[5] = fmaxf(_ev_sample_delayed.posErr, 0.01f);
R[5] = fmaxf(_ev_sample_delayed.hgtErr, 0.01f);
R[5] = R[5] * R[5];
// innovation gate size
gate_size[5] = fmaxf(_params.ev_innov_gate, 1.0f);