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EKF params - clarify body frame origin/orientation

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Hamish Willee
2020-01-30 11:29:42 +11:00
committed by Kabir Mohammed
parent 69af6386b3
commit 9886b11f99
1 changed files with 15 additions and 15 deletions
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30
src/modules/ekf2/ekf2_params.c
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@@ -819,7 +819,7 @@ PARAM_DEFINE_FLOAT(EKF2_TERR_GRAD, 0.5f);
PARAM_DEFINE_INT32(EKF2_IMU_ID, 0);
/**
* X position of IMU in body frame
* X position of IMU in body frame (forward axis with origin relative to vehicle centre of gravity)
*
* @group EKF2
* @unit m
@@ -828,7 +828,7 @@ PARAM_DEFINE_INT32(EKF2_IMU_ID, 0);
PARAM_DEFINE_FLOAT(EKF2_IMU_POS_X, 0.0f);
/**
* Y position of IMU in body frame
* Y position of IMU in body frame (right axis with origin relative to vehicle centre of gravity)
*
* @group EKF2
* @unit m
@@ -837,7 +837,7 @@ PARAM_DEFINE_FLOAT(EKF2_IMU_POS_X, 0.0f);
PARAM_DEFINE_FLOAT(EKF2_IMU_POS_Y, 0.0f);
/**
* Z position of IMU in body frame
* Z position of IMU in body frame (down axis with origin relative to vehicle centre of gravity)
*
* @group EKF2
* @unit m
@@ -846,7 +846,7 @@ PARAM_DEFINE_FLOAT(EKF2_IMU_POS_Y, 0.0f);
PARAM_DEFINE_FLOAT(EKF2_IMU_POS_Z, 0.0f);
/**
* X position of GPS antenna in body frame
* X position of GPS antenna in body frame (forward axis with origin relative to vehicle centre of gravity)
*
* @group EKF2
* @unit m
@@ -855,7 +855,7 @@ PARAM_DEFINE_FLOAT(EKF2_IMU_POS_Z, 0.0f);
PARAM_DEFINE_FLOAT(EKF2_GPS_POS_X, 0.0f);
/**
* Y position of GPS antenna in body frame
* Y position of GPS antenna in body frame (right axis with origin relative to vehicle centre of gravity)
*
* @group EKF2
* @unit m
@@ -864,7 +864,7 @@ PARAM_DEFINE_FLOAT(EKF2_GPS_POS_X, 0.0f);
PARAM_DEFINE_FLOAT(EKF2_GPS_POS_Y, 0.0f);
/**
* Z position of GPS antenna in body frame
* Z position of GPS antenna in body frame (down axis with origin relative to vehicle centre of gravity)
*
* @group EKF2
* @unit m
@@ -873,7 +873,7 @@ PARAM_DEFINE_FLOAT(EKF2_GPS_POS_Y, 0.0f);
PARAM_DEFINE_FLOAT(EKF2_GPS_POS_Z, 0.0f);
/**
* X position of range finder origin in body frame
* X position of range finder origin in body frame (forward axis with origin relative to vehicle centre of gravity)
*
* @group EKF2
* @unit m
@@ -882,7 +882,7 @@ PARAM_DEFINE_FLOAT(EKF2_GPS_POS_Z, 0.0f);
PARAM_DEFINE_FLOAT(EKF2_RNG_POS_X, 0.0f);
/**
* Y position of range finder origin in body frame
* Y position of range finder origin in body frame (right axis with origin relative to vehicle centre of gravity)
*
* @group EKF2
* @unit m
@@ -891,7 +891,7 @@ PARAM_DEFINE_FLOAT(EKF2_RNG_POS_X, 0.0f);
PARAM_DEFINE_FLOAT(EKF2_RNG_POS_Y, 0.0f);
/**
* Z position of range finder origin in body frame
* Z position of range finder origin in body frame (down axis with origin relative to vehicle centre of gravity)
*
* @group EKF2
* @unit m
@@ -900,7 +900,7 @@ PARAM_DEFINE_FLOAT(EKF2_RNG_POS_Y, 0.0f);
PARAM_DEFINE_FLOAT(EKF2_RNG_POS_Z, 0.0f);
/**
* X position of optical flow focal point in body frame
* X position of optical flow focal point in body frame (forward axis with origin relative to vehicle centre of gravity)
*
* @group EKF2
* @unit m
@@ -909,7 +909,7 @@ PARAM_DEFINE_FLOAT(EKF2_RNG_POS_Z, 0.0f);
PARAM_DEFINE_FLOAT(EKF2_OF_POS_X, 0.0f);
/**
* Y position of optical flow focal point in body frame
* Y position of optical flow focal point in body frame (right axis with origin relative to vehicle centre of gravity)
*
* @group EKF2
* @unit m
@@ -918,7 +918,7 @@ PARAM_DEFINE_FLOAT(EKF2_OF_POS_X, 0.0f);
PARAM_DEFINE_FLOAT(EKF2_OF_POS_Y, 0.0f);
/**
* Z position of optical flow focal point in body frame
* Z position of optical flow focal point in body frame (down axis with origin relative to vehicle centre of gravity)
*
* @group EKF2
* @unit m
@@ -927,7 +927,7 @@ PARAM_DEFINE_FLOAT(EKF2_OF_POS_Y, 0.0f);
PARAM_DEFINE_FLOAT(EKF2_OF_POS_Z, 0.0f);
/**
* X position of VI sensor focal point in body frame
* X position of VI sensor focal point in body frame (forward axis with origin relative to vehicle centre of gravity)
*
* @group EKF2
* @unit m
@@ -936,7 +936,7 @@ PARAM_DEFINE_FLOAT(EKF2_OF_POS_Z, 0.0f);
PARAM_DEFINE_FLOAT(EKF2_EV_POS_X, 0.0f);
/**
* Y position of VI sensor focal point in body frame
* Y position of VI sensor focal point in body frame (right axis with origin relative to vehicle centre of gravity)
*
* @group EKF2
* @unit m
@@ -945,7 +945,7 @@ PARAM_DEFINE_FLOAT(EKF2_EV_POS_X, 0.0f);
PARAM_DEFINE_FLOAT(EKF2_EV_POS_Y, 0.0f);
/**
* Z position of VI sensor focal point in body frame
* Z position of VI sensor focal point in body frame (down axis with origin relative to vehicle centre of gravity)
*
* @group EKF2
* @unit m