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EKF: Enable use of rotated external nav estimates

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Paul Riseborough
2017-11-01 08:33:57 +11:00
parent f921b2de5c
commit 01d68ef67c
7 changed files with 249 additions and 82 deletions
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EKF/estimator_interface.h
+3
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@@ -236,6 +236,9 @@ public:
}
}
// return the quaternion defining the rotation from the EKF to the External Vision reference frame
virtual void get_ekf2ev_quaternion(float *quat) = 0;
// get the velocity of the body frame origin in local NED earth frame
void get_velocity(float *vel)
{