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EKF: publish the vertical position offset

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Paul Riseborough
2016-04-22 08:30:46 +10:00
parent 0de15b1b20
commit 10bf05e9a6
2 changed files with 6 additions and 0 deletions
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EKF/ekf.h
+3
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@@ -126,6 +126,9 @@ public:
// get GPS check status
void get_gps_check_status(uint16_t *_gps_check_fail_status);
// return the amount the local vertical position changed in the last height reset and the time of the reset
void get_vert_pos_reset(float *delta, uint64_t *time_us) {*delta = _vert_pos_reset_delta; *time_us = _time_vert_pos_reset;}
private:
static const uint8_t _k_num_states = 24;
EKF/estimator_interface.h
+3
View File
@@ -220,6 +220,9 @@ public:
// get GPS check status
virtual void get_gps_check_status(uint16_t *val) = 0;
// return the amount the local vertical position changed in the last height reset and the time of the reset
virtual void get_vert_pos_reset(float *delta, uint64_t *time_us) = 0;
protected:
parameters _params; // filter parameters