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Added compensation for VI sensor offset. Check sign.

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devbharat 2016-04-19 13:51:50 +02:00 committed by Paul Riseborough
parent e917d6c7f2
commit ff8f03b5dd
2 changed files with 9 additions and 0 deletions
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2
EKF/common.h
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@ -249,6 +249,7 @@ struct parameters {
Vector3f gps_pos_body; // xyz position of the GPS antenna in body frame (m)
Vector3f rng_pos_body; // xyz position of range sensor in body frame (m)
Vector3f flow_pos_body; // xyz position of range sensor focal point in body frame (m)
Vector3f visn_pos_body; // xyz position of VI-sensor focal point in body frame (m)
// output complementary filter tuning
float vel_Tau; // velocity state correction time constant (1/sec)
@ -333,6 +334,7 @@ struct parameters {
gps_pos_body = {};
rng_pos_body = {};
flow_pos_body = {};
visn_pos_body = {};
// output complementary filter tuning time constants
vel_Tau = 0.5f;

7
EKF/ekf.cpp
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@ -309,6 +309,13 @@ bool Ekf::update()
if (_control_status.flags.ev_pos) {
_fuse_pos = true;
_fuse_height = true;
// correct position and height for offset relative to IMU
Vector3f pos_offset_body = _params.visn_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 - ?
}
// use external vision yaw observation
if (_control_status.flags.ev_yaw) {