The quaternion to inverse rotation matrix function has been updated so that the rotation it produces is the inverse to that produced by the matrix library and the the inverse of the quaternion is uses. This function is now used to directly calculate an inverse rotation matrix rather than calculating the forward rotation and then transposing it.
clearance. This is the best estimate as we should not rely on a distance
sensor while on the ground. This also helps when the drone is carried
over as it avoids starting with a crazy downward distance for optical
flow scaling.
- calculate a theoretical value based on the knowledge of the direction
and strength of the magnetic field vector and X/Y sensor measurements
- needs knowledge about location on earth to work
This removes the check for _rng_hgt_faulty in the decision of publishing
a fake range measurement. The reason for this is that some distance sensors
don't populate the quality flag, even if they are saturated. Hence, if we
are on the ground and not moving, it is safe to publish a fake measurement
of the distance sensor and overwrite the actual sensor data.
This commit introduces a quality measure in the range data. It is
used to properly decide whether to initialize the HAGL estimate on
sensor data or MIN_HGT parameter, as well as in the decision of
whether a 'fake' measurement should be published on the ground to
allow for optical flow take-offs.
position/velocity aiding sensor.
Until now, it was alway resetting if the vehicle does not have gps or
external vision. This caused a reset/glitch at every stop (when range data gets
valid)
RomanBapst
Paul Riseborough
bresch
kamilritz
Jannik Beyerstedt
Matthias Grob
Daniel Agar
Julian Kent
Nico van Duijn
Andreas Antener
Jan Brehmer