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yigiter / Demo6DoF

Demonstration of inertial navigation implementation for Android devices
www.instk.org
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Matrix size mismatch in 6DoF mode #1

Open AlexMcLellanIndra opened 12 years ago

AlexMcLellanIndra commented 12 years ago

Hi, I've run the demo app, but it crashes for me in 6DoF mode. I debugged into the app to see what the issue is and it seems that the ejml library is throwing an exception due to matrix size mismatch. This happens in DataAccum:: avgyro(DenseMatrix64F out) when called from Kalman::sys_bd_dcm (...). The out value has been initialised in the Kalman class as a 3x3 matrix but the avgyro method is expecting a 3x1 matrix.

Alex.

AlexMcLellanIndra commented 12 years ago

I believe this is the fix:

In the INS.java file, Line 250: CommonOps.scale (1/acing, acgyro, out);

Should be

Line 250: CommonOps.scale (1/acing, acgyro, vr_a);

Alex.