ekf2: fill pose and vel covariance in odometry #16929
Closed
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
|
@bresch Could you review? |
dagar
changed the title
dagar
force-pushed
the
pr-ekf2_odometry_covariance
branch
from
9fc88e9 to
576d831
Compare
dagar
changed the title
dagar
force-pushed
the
pr-ekf2_odometry_covariance
branch
from
576d831 to
8c02ee2
Compare
dagar
force-pushed
the
pr-ekf2_odometry_covariance
branch
from
8c02ee2 to
f53445c
Compare
priseborough
reviewed
Nov 4, 2021
| float q4 = q(3); | ||
|
|
||
| // numerator components | ||
| float n1 = 2 * q1 * q2 + 2 * q2 * q4; |
There was a problem hiding this comment.
Where did these come from?
There was a problem hiding this comment.
I will see if this derivation can be added to our existing sympy script.
There was a problem hiding this comment.
See https://github.com/priseborough/PX4-Autopilot/tree/pr-ekf2_derivation_update for a symbolic derivation
There was a problem hiding this comment.
Nuno's original PR for context. #11092
priseborough
reviewed
Nov 4, 2021
| // Protect against division by 0 | ||
| float d1 = n1 * n1 + n2 * n2; | ||
| float d2 = n3 * n3 + n4 * n4; | ||
| d1 = math::max(0.0f, d1); |
There was a problem hiding this comment.
This doesn't protect against /0 where we divide by d1. Likewise for d2.
|
Rolled into #19966. |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Resurrecting #11092.