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whole lot of cleanup
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Marius Eggert
2024-02-12 14:43:34 +01:00
parent b68bbe64a3
commit 236ca64de3
11 changed files with 42 additions and 538 deletions
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mission/controller/acs/AttitudeEstimation.cpp
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@ -41,8 +41,8 @@ void AttitudeEstimation::quest(acsctrl::SusDataProcessed *susData,
// Sensor Weights
double kSus = 0, kMgm = 0;
kSus = std::pow(acsParameters->kalmanFilterParameters.sensorNoiseSS, -2);
kMgm = std::pow(acsParameters->kalmanFilterParameters.sensorNoiseMAG, -2);
kSus = std::pow(acsParameters->kalmanFilterParameters.sensorNoiseSus, -2);
kMgm = std::pow(acsParameters->kalmanFilterParameters.sensorNoiseMgm, -2);
// Weighted Vectors
double weightedSusB[3] = {0, 0, 0}, weightedMgmB[3] = {0, 0, 0}, kSusVec[3] = {0, 0, 0},