![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
Testing ekf implementation for Quadro_1.
Diff: EKF_RPY.cpp
- Revision:
- 21:aab1ac72095b
- Parent:
- 20:0227c82a78c2
- Child:
- 22:4148af9e3d81
--- a/EKF_RPY.cpp Mon Oct 28 12:14:59 2019 +0000 +++ b/EKF_RPY.cpp Mon Jan 06 10:20:10 2020 +0000 @@ -29,7 +29,7 @@ rho = 1.0f; kv = 0.5f; /* k1/m */ g = 9.81f; - scale_P0 = 1000000.0f; + scale_P0 = 1000.0f; } void EKF_RPY::reset() @@ -63,11 +63,11 @@ /* x = [ang; v; b_g] = [0: phi 1: theta 2: psi - 3: b_gx - 4: b_gy - 5: b_gz - 6: vx - 7: vy] */ + 3: vx + 4: vy + 5: b_gx + 6: b_gy + 7: b_gz] */ return x(i); }