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Fixing small issues at ekf_att_pos_estimator #1827

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merged 3 commits into from
Feb 28, 2015
Merged

Fixing small issues at ekf_att_pos_estimator #1827

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bbd5f33
removed duplicate line
Feb 23, 2015
aeef634
adapted comment about accelerometer offset
Feb 23, 2015
a77420e
corrected rate offset calculation such that units match
Feb 23, 2015
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18 changes: 8 additions & 10 deletions src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -457,9 +457,7 @@ int AttitudePositionEstimatorEKF::check_filter_state()
rep.states[i] = ekf_report.states[i];
}

for (size_t i = 0; i < rep.n_states; i++) {
rep.states[i] = ekf_report.states[i];
}


if (_estimator_status_pub > 0) {
orb_publish(ORB_ID(estimator_status), _estimator_status_pub, &rep);
Expand Down Expand Up @@ -774,14 +772,14 @@ void AttitudePositionEstimatorEKF::publishAttitude()
_att.pitch = euler(1);
_att.yaw = euler(2);

_att.rollspeed = _ekf->angRate.x - _ekf->states[10];
_att.pitchspeed = _ekf->angRate.y - _ekf->states[11];
_att.yawspeed = _ekf->angRate.z - _ekf->states[12];
_att.rollspeed = _ekf->angRate.x - _ekf->states[10] / _ekf->dtIMU;
_att.pitchspeed = _ekf->angRate.y - _ekf->states[11] / _ekf->dtIMU;
_att.yawspeed = _ekf->angRate.z - _ekf->states[12] / _ekf->dtIMU;

// gyro offsets
_att.rate_offsets[0] = _ekf->states[10];
_att.rate_offsets[1] = _ekf->states[11];
_att.rate_offsets[2] = _ekf->states[12];
_att.rate_offsets[0] = _ekf->states[10] / _ekf->dtIMU;
_att.rate_offsets[1] = _ekf->states[11] / _ekf->dtIMU;
_att.rate_offsets[2] = _ekf->states[12] / _ekf->dtIMU;

/* lazily publish the attitude only once available */
if (_att_pub > 0) {
Expand Down Expand Up @@ -1056,7 +1054,7 @@ void AttitudePositionEstimatorEKF::print_status()
// 4-6: Velocity - m/sec (North, East, Down)
// 7-9: Position - m (North, East, Down)
// 10-12: Delta Angle bias - rad (X,Y,Z)
// 13: Accelerometer offset
// 13: Delta Velocity Bias - m/s (Z)
// 14-15: Wind Vector - m/sec (North,East)
// 16-18: Earth Magnetic Field Vector - gauss (North, East, Down)
// 19-21: Body Magnetic Field Vector - gauss (X,Y,Z)
Expand Down