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Merge branch 'est_reinit_fix'

This commit is contained in:
Lorenz Meier 2014-07-03 13:26:10 +02:00
parent 93dcd90404 76aa871a71
commit 2a7954b6cf
1 changed files with 6 additions and 6 deletions
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12
src/modules/ekf_att_pos_estimator/estimator_23states.cpp
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@ -2503,12 +2503,12 @@ void AttPosEKF::InitializeDynamic(float (&initvelNED)[3], float declination)
// Calculate initial Tbn matrix and rotate Mag measurements into NED // Calculate initial Tbn matrix and rotate Mag measurements into NED
// to set initial NED magnetic field states // to set initial NED magnetic field states
Mat3f DCM; quat2Tbn(Tbn, initQuat);
quat2Tbn(DCM, initQuat); Tnb = Tbn.transpose();
Vector3f initMagNED; Vector3f initMagNED;
initMagNED.x = DCM.x.x*initMagXYZ.x + DCM.x.y*initMagXYZ.y + DCM.x.z*initMagXYZ.z; initMagNED.x = Tbn.x.x*initMagXYZ.x + Tbn.x.y*initMagXYZ.y + Tbn.x.z*initMagXYZ.z;
initMagNED.y = DCM.y.x*initMagXYZ.x + DCM.y.y*initMagXYZ.y + DCM.y.z*initMagXYZ.z; initMagNED.y = Tbn.y.x*initMagXYZ.x + Tbn.y.y*initMagXYZ.y + Tbn.y.z*initMagXYZ.z;
initMagNED.z = DCM.z.x*initMagXYZ.x + DCM.z.y*initMagXYZ.y + DCM.z.z*initMagXYZ.z; initMagNED.z = Tbn.z.x*initMagXYZ.x + Tbn.z.y*initMagXYZ.y + Tbn.z.z*initMagXYZ.z;
magstate.q0 = initQuat[0]; magstate.q0 = initQuat[0];
magstate.q1 = initQuat[1]; magstate.q1 = initQuat[1];
@ -2521,7 +2521,7 @@ void AttPosEKF::InitializeDynamic(float (&initvelNED)[3], float declination)
magstate.magYbias = magBias.y; magstate.magYbias = magBias.y;
magstate.magZbias = magBias.z; magstate.magZbias = magBias.z;
magstate.R_MAG = sq(magMeasurementSigma); magstate.R_MAG = sq(magMeasurementSigma);
magstate.DCM = DCM; magstate.DCM = Tbn;
// write to state vector // write to state vector
for (uint8_t j=0; j<=3; j++) states[j] = initQuat[j]; // quaternions for (uint8_t j=0; j<=3; j++) states[j] = initQuat[j]; // quaternions