From 65915e5d01cd0b1b8aed95c827a4886f3a57e545 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 19 Jan 2015 14:42:51 +0100 Subject: EKF: Fix race condition in accel measurement assignment --- src/modules/ekf_att_pos_estimator/estimator_22states.cpp | 15 +++++++++------ 1 file changed, 9 insertions(+), 6 deletions(-) (limited to 'src/modules/ekf_att_pos_estimator') diff --git a/src/modules/ekf_att_pos_estimator/estimator_22states.cpp b/src/modules/ekf_att_pos_estimator/estimator_22states.cpp index b062097fb..6cff4b948 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_22states.cpp +++ b/src/modules/ekf_att_pos_estimator/estimator_22states.cpp @@ -181,9 +181,12 @@ void AttPosEKF::UpdateStrapdownEquationsNED() correctedDelAng.x = dAngIMU.x - states[10]; correctedDelAng.y = dAngIMU.y - states[11]; correctedDelAng.z = dAngIMU.z - states[12]; - dVelIMU.x = dVelIMU.x; - dVelIMU.y = dVelIMU.y; - dVelIMU.z = dVelIMU.z - states[13]; + + Vector3f dVelIMURel; + + dVelIMURel.x = dVelIMU.x; + dVelIMURel.y = dVelIMU.y; + dVelIMURel.z = dVelIMU.z - states[13]; delAngTotal.x += correctedDelAng.x; delAngTotal.y += correctedDelAng.y; @@ -263,9 +266,9 @@ void AttPosEKF::UpdateStrapdownEquationsNED() // transform body delta velocities to delta velocities in the nav frame // * and + operators have been overloaded //delVelNav = Tbn*dVelIMU + gravityNED*dtIMU; - delVelNav.x = Tbn.x.x*dVelIMU.x + Tbn.x.y*dVelIMU.y + Tbn.x.z*dVelIMU.z + gravityNED.x*dtIMU; - delVelNav.y = Tbn.y.x*dVelIMU.x + Tbn.y.y*dVelIMU.y + Tbn.y.z*dVelIMU.z + gravityNED.y*dtIMU; - delVelNav.z = Tbn.z.x*dVelIMU.x + Tbn.z.y*dVelIMU.y + Tbn.z.z*dVelIMU.z + gravityNED.z*dtIMU; + delVelNav.x = Tbn.x.x*dVelIMURel.x + Tbn.x.y*dVelIMURel.y + Tbn.x.z*dVelIMURel.z + gravityNED.x*dtIMU; + delVelNav.y = Tbn.y.x*dVelIMURel.x + Tbn.y.y*dVelIMURel.y + Tbn.y.z*dVelIMURel.z + gravityNED.y*dtIMU; + delVelNav.z = Tbn.z.x*dVelIMURel.x + Tbn.z.y*dVelIMURel.y + Tbn.z.z*dVelIMURel.z + gravityNED.z*dtIMU; // calculate the magnitude of the nav acceleration (required for GPS // variance estimation) -- cgit v1.2.3