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ekf2: fix delta angle coning metric

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bresch
2022-01-04 11:29:14 +01:00
committed by Daniel Agar
parent 6fbc0e95d0
commit d094fbbd70
1 changed files with 8 additions and 3 deletions
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src/modules/ekf2/EKF2.cpp
+8 -3
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@@ -1380,12 +1380,17 @@ void EKF2::UpdateImuStatus()
return; return;
} }
const float dt = _ekf.get_dt_imu_avg();
// accel -> delta velocity // accel -> delta velocity
_ekf.setDeltaVelocityHighFrequencyVibrationMetric(imu_status.accel_vibration_metric * _ekf.get_dt_imu_avg()); _ekf.setDeltaVelocityHighFrequencyVibrationMetric(imu_status.accel_vibration_metric * dt);
// gyro -> delta angle // gyro -> delta angle
_ekf.setDeltaAngleHighFrequencyVibrationMetric(imu_status.gyro_vibration_metric * _ekf.get_dt_imu_avg()); _ekf.setDeltaAngleHighFrequencyVibrationMetric(imu_status.gyro_vibration_metric * dt);
_ekf.setDeltaAngleConingMetric(imu_status.gyro_coning_vibration * _ekf.get_dt_imu_avg());
// note: the coning metric uses the cross product of two consecutive angular velocities
// this is why the conversion to delta angle requires dt^2
_ekf.setDeltaAngleConingMetric(imu_status.gyro_coning_vibration * dt * dt);
} }
} }