@wemap/positioning 2.7.1 → 2.7.2

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Files changed (2) hide show
  1. package/package.json +6 -6
  2. package/src/providers/attitude/EkfAttitude.js +3 -3
package/package.json CHANGED
@@ -8,11 +8,11 @@
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  "Guillaume Pannetier <guillaume.pannetier@getwemap.com>"
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  ],
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  "dependencies": {
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- "@wemap/geo": "^2.7.1",
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- "@wemap/graph": "^2.7.1",
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+ "@wemap/geo": "^2.7.2",
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+ "@wemap/graph": "^2.7.2",
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  "@wemap/logger": "^2.7.0",
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- "@wemap/maths": "^2.7.0",
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- "@wemap/osm": "^2.7.1",
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+ "@wemap/maths": "^2.7.2",
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+ "@wemap/osm": "^2.7.2",
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  "@wemap/utils": "^2.7.0",
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  "geomagnetism": "^0.1.0",
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  "lodash.isempty": "^4.4.0",
@@ -71,6 +71,6 @@
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  "lint": "eslint --ext .js,.jsx --quiet src",
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  "test": "mocha -r esm \"src/**/*.spec.js\""
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  },
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- "version": "2.7.1",
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- "gitHead": "3d332f1dce308ba28f2a551c2e709e840c54bd83"
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+ "version": "2.7.2",
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+ "gitHead": "ec928b7890e3c37be2a32b1ba1c108aeba9e15b7"
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  }
package/src/providers/attitude/EkfAttitude.js CHANGED
@@ -159,8 +159,8 @@ class EkfAttitude {
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  const HAcc = this.jacobianES(qAPriori, this.accRef);
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  H = Matrix.concatRow(HYc, HAcc);
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- const RYc = Matrix.concatLine(this.noises.absolute.yc, Matrix3.zeros());
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- const RAcc = Matrix.concatLine(Matrix3.zeros(), this.noises.absolute.accelerometer);
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+ const RYc = Matrix.concatLine(this.noises.absolute.yc, Matrix3.zeros);
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+ const RAcc = Matrix.concatLine(Matrix3.zeros, this.noises.absolute.accelerometer);
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  const R = Matrix.concatRow(RYc, RAcc);
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  K = Matrix.multiply(
@@ -200,7 +200,7 @@ class EkfAttitude {
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  );
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  const P = Matrix.multiply(
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  Matrix4.subtract(
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- Matrix.identity4(),
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+ Matrix4.identity,
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  Matrix.multiply(K, H)
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  ),
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  pAPriori