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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-04-25 17:25:42 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-04-25 17:25:42 +0200 |
| commit | ed9fbbce5946d22ded1519ddec1b5ff6a8f2e511 (patch) | |
| tree | d719793cb905d2b40b0d80b5acfb3452008c6b5f /apps/examples | |
| parent | d62058eccf7d3801a752aac11fb2c37f198a239c (diff) | |
| download | px4-firmware-ed9fbbce5946d22ded1519ddec1b5ff6a8f2e511.tar.gz px4-firmware-ed9fbbce5946d22ded1519ddec1b5ff6a8f2e511.tar.bz2 px4-firmware-ed9fbbce5946d22ded1519ddec1b5ff6a8f2e511.zip | |
HIL bugfixing
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 - |