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73 lines
2.5 KiB
73 lines
2.5 KiB
9 years ago
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/****************************************************************************
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*
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* Copyright (c) 2015 Estimation and Control Library (ECL). All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name ECL nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file ekf_helper.cpp
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* Definition of ekf helper functions.
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*
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* @author Roman Bast <bapstroman@gmail.com>
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*
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*/
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#include "ekf.h"
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void Ekf::resetVelocity()
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{
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// if we have a valid GPS measurement use it to initialise velocity states
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gpsSample gps_newest = _gps_buffer.get_newest();
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if (_time_last_imu - gps_newest.time_us < 100000) {
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_state.vel = gps_newest.vel;
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} else {
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_state.vel.setZero();
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}
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}
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void Ekf::resetPosition()
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{
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// if we have a valid GPS measurement use it to initialise position states
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gpsSample gps_newest = _gps_buffer.get_newest();
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if (_time_last_imu - gps_newest.time_us < 100000) {
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_state.pos(0) = gps_newest.pos(0);
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_state.pos(1) = gps_newest.pos(1);
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} else {
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// XXX use the value of the last known position
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}
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baroSample baro_newest = _baro_buffer.get_newest();
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_state.pos(2) = baro_newest.hgt;
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}
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