ekf: move gravity, coriolis and transport rate signs

This is how those quentities are usually defined
PX4 · Nov 21, 2024 · 09488d9 · 09488d9
1 parent 0bfcddf
commit 09488d9
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/src/modules/ekf2/EKF/ekf.cpp b/src/modules/ekf2/EKF/ekf.cpp
@@ -260,10 +260,10 @@ void Ekf::predictState(const imuSample &imu_delayed)
 	_state.vel += corrected_delta_vel_ef;
 
 	// compensate for acceleration due to gravity, Coriolis and transport rate
-	const Vector3f gravity_acceleration(0.f, 0.f, -CONSTANTS_ONE_G); // simplistic model
-	const Vector3f coriolis_acceleration = 2.f * _earth_rate_NED.cross(vel_last);
-	const Vector3f transport_rate = _gpos.computeAngularRateNavFrame(vel_last).cross(vel_last);
-	_state.vel -= (gravity_acceleration + coriolis_acceleration + transport_rate) * imu_delayed.delta_vel_dt;
+	const Vector3f gravity_acceleration(0.f, 0.f, CONSTANTS_ONE_G); // simplistic model
+	const Vector3f coriolis_acceleration = -2.f * _earth_rate_NED.cross(vel_last);
+	const Vector3f transport_rate = -_gpos.computeAngularRateNavFrame(vel_last).cross(vel_last);
+	_state.vel += (gravity_acceleration + coriolis_acceleration + transport_rate) * imu_delayed.delta_vel_dt;
 
 	// predict position states via trapezoidal integration of velocity
 	_gpos += (vel_last + _state.vel) * imu_delayed.delta_vel_dt * 0.5f;