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| author | px4dev <px4@purgatory.org> | 2013-04-26 11:27:26 -0700 |
|---|---|---|
| committer | px4dev <px4@purgatory.org> | 2013-04-26 11:27:26 -0700 |
| commit | 3acdc9d4ce3d83af6bb7f953e466620be690658e (patch) | |
| tree | c1c792b44f7454ce36a288034179764ebc355daa /apps/examples | |
| parent | 8224adf52a126105c72e41db2ba35b1aaed3e301 (diff) | |
| parent | 556a017444b809c18e2ce495a2fd00380960e0f4 (diff) | |
| download | px4-firmware-3acdc9d4ce3d83af6bb7f953e466620be690658e.tar.gz px4-firmware-3acdc9d4ce3d83af6bb7f953e466620be690658e.tar.bz2 px4-firmware-3acdc9d4ce3d83af6bb7f953e466620be690658e.zip | |
Merge branch 'master' into export-build
Diffstat (limited to 'apps/examples')
| -rw-r--r-- | apps/examples/kalman_demo/KalmanNav.cpp | 2 |
1 files changed, 2 insertions, 0 deletions
diff --git a/apps/examples/kalman_demo/KalmanNav.cpp b/apps/examples/kalman_demo/KalmanNav.cpp index 6df454a55..4ef150da1 100644 --- a/apps/examples/kalman_demo/KalmanNav.cpp +++ b/apps/examples/kalman_demo/KalmanNav.cpp @@ -355,6 +355,8 @@ int KalmanNav::predictState(float dt) float LDot = vN / R; float lDot = vE / (cosLSing * R); float rotRate = 2 * omega + lDot; + + // XXX position prediction using speed float vNDot = fN - vE * rotRate * sinL + vD * LDot; float vDDot = fD - vE * rotRate * cosL - |