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position_estimator_inav: added NaN checks

This commit is contained in:
Anton Babushkin 2014-03-21 18:49:39 +04:00
parent 49bdfa8cfb
commit b2f8fcb9d9
1 changed files with 15 additions and 9 deletions
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24
src/modules/position_estimator_inav/inertial_filter.c
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@ -5,24 +5,30 @@
* Author: Anton Babushkin <rk3dov@gmail.com>
*/
#include <math.h>
#include "inertial_filter.h"
void inertial_filter_predict(float dt, float x[3])
{
x[0] += x[1] * dt + x[2] * dt * dt / 2.0f;
x[1] += x[2] * dt;
if (isfinite(dt)) {
x[0] += x[1] * dt + x[2] * dt * dt / 2.0f;
x[1] += x[2] * dt;
}
}
void inertial_filter_correct(float e, float dt, float x[3], int i, float w)
{
float ewdt = e * w * dt;
x[i] += ewdt;
if (isfinite(e) && isfinite(w) && isfinite(dt)) {
float ewdt = e * w * dt;
x[i] += ewdt;
if (i == 0) {
x[1] += w * ewdt;
x[2] += w * w * ewdt / 3.0;
if (i == 0) {
x[1] += w * ewdt;
x[2] += w * w * ewdt / 3.0;
} else if (i == 1) {
x[2] += w * ewdt;
} else if (i == 1) {
x[2] += w * ewdt;
}
}
}