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72 lines
2.5 KiB
72 lines
2.5 KiB
/**************************************************************************** |
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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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