1 #include "../BlockLocalPositionEstimator.hpp" 29 "%5.2f, %5.2f, %5.2f m std %5.2f, %5.2f, %5.2f m",
148 for (
size_t i = 0; i < 3; i++) {
153 for (
size_t i = 3; i < 6; i++) {
162 float beta = (r.
transpose() * (S_I * r))(0, 0);
uint64_t _global_ref_timestamp
uint64_t _time_last_mocap
static const float BETA_TABLE[7]
matrix::Vector< Type, M > getMean()
int globallocalconverter_getref(double *lat_0, double *lon_0, float *alt_0)
Get reference position of the global to local converter.
Matrix< Type, N, M > transpose() const
#define mavlink_and_console_log_info(_pub, _text,...)
Send a mavlink emergency message and print to console.
static const uint32_t REQ_MOCAP_INIT_COUNT
struct map_projection_reference_s _map_ref
float vel_pos_innov_var[6]
BlockStats< float, n_y_mocap > _mocapStats
int mocapMeasure(Vector< float, n_y_mocap > &y)
__BEGIN_DECLS typedef void * orb_advert_t
ORB topic advertiser handle.
orb_advert_t mavlink_log_pub
Matrix< float, n_x, n_x > m_P
matrix::Vector< Type, M > getStdDev()
static const uint32_t MOCAP_TIMEOUT
float pose_covariance[21]
bool globallocalconverter_initialized()
Checks if globallocalconverter was initialized.
static constexpr float EP_MAX_STD_DEV
bool _altOriginInitialized
int map_projection_init(struct map_projection_reference_s *ref, double lat_0, double lon_0)
Initializes the map transformation given by the argument and sets the timestamp to now...
uORB::SubscriptionData< vehicle_odometry_s > _sub_mocap_odom
uORB::PublicationData< ekf2_innovations_s > _pub_innov
void update(const matrix::Vector< Type, M > &u)