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Add velocity observations to external vision interface

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kamilritz
2019-09-24 07:48:46 +10:00
committed by Paul Riseborough
parent 62a1e07512
commit 149233a9ab
2 changed files with 10 additions and 4 deletions
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EKF/estimator_interface.cpp
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@@ -442,9 +442,11 @@ void EstimatorInterface::setExtVisionData(uint64_t time_usec, ext_vision_message
// copy required data
ev_sample_new.angErr = evdata->angErr;
ev_sample_new.posErr = evdata->posErr;
ev_sample_new.velErr = evdata->velErr;
ev_sample_new.hgtErr = evdata->hgtErr;
ev_sample_new.quat = evdata->quat;
ev_sample_new.posNED = evdata->posNED;
ev_sample_new.velNED = evdata->velNED;
// record time for comparison next measurement
_time_last_ext_vision = time_usec;