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Hack to fix external vision pos offset compensation

This commit is contained in:
devbharat 2016-04-20 09:31:26 +02:00 committed by Paul Riseborough
parent d3bad9fdb0
commit d16f413b55
1 changed files with 4 additions and 3 deletions
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7
EKF/ekf.cpp
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@ -313,9 +313,10 @@ bool Ekf::update()
// correct position and height for offset relative to IMU
Vector3f pos_offset_body = _params.ev_pos_body - _params.imu_pos_body;
Vector3f pos_offset_earth = _R_to_earth * pos_offset_body;
_ev_sample_delayed.posNED(0) -= pos_offset_earth(0);
_ev_sample_delayed.posNED(1) -= pos_offset_earth(1);
_ev_sample_delayed.posNED(2) -= pos_offset_earth(2); // + or - ?
// warnx("pos_offset_earth %lf %lf %lf", (double)pos_offset_earth(0)*100, (double)pos_offset_earth(1)*100, (double)pos_offset_earth(2)*100);
_ev_sample_delayed.posNED(0) += pos_offset_earth(1); // XXX FIX IT Hack After "_R_to_earth * pos_offset_body" x and y offset seem to be switched!
_ev_sample_delayed.posNED(1) -= pos_offset_earth(0); // XXX FIX IT Hack After "_R_to_earth * pos_offset_body" x and y offset seem to be switched!
_ev_sample_delayed.posNED(2) -= pos_offset_earth(2);
}
// use external vision yaw observation
if (_control_status.flags.ev_yaw) {