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EKF: Add variables to monitor vertical position and height offset

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This commit is contained in:
Paul Riseborough
2016-04-22 08:28:56 +10:00
parent 62c6d40f1f
commit 0de15b1b20
2 changed files with 9 additions and 1 deletions
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EKF/ekf.cpp
+5 -1
View File
@@ -85,7 +85,11 @@ Ekf::Ekf():
_baro_hgt_faulty(false),
_gps_hgt_faulty(false),
_rng_hgt_faulty(false),
_baro_hgt_offset(0.0f)
_baro_hgt_offset(0.0f),
_vert_pos_reset_delta(0.0f),
_time_vert_pos_reset(0),
_vert_vel_reset_delta(0.0f),
_time_vert_vel_reset(0)
{
_state = {};
_last_known_posNE.setZero();
EKF/ekf.h
+4
View File
@@ -232,6 +232,10 @@ private:
int _primary_hgt_source; // priary source of height data set at initialisation
float _baro_hgt_offset; // number of metres the baro height origin is above the local NED origin (m)
float _vert_pos_reset_delta; // increase in vertical position state at the last reset(m)
uint64_t _time_vert_pos_reset; // last system time in usec that the vertical position state was reset
float _vert_vel_reset_delta; // increase in vertical position velocity at the last reset(m)
uint64_t _time_vert_vel_reset; // last system time in usec that the vertical velocity state was reset
// update the real time complementary filter states. This includes the prediction
// and the correction step