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Log height innovation sensor specific

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This commit is contained in:
kamilritz
2019-12-05 20:09:34 +11:00
committed by Paul Riseborough
parent f32fce28a3
commit 181303488c
4 changed files with 98 additions and 30 deletions
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EKF/ekf_helper.cpp
+30
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@@ -889,6 +889,36 @@ void Ekf::getEvVelPosInnovRatio(float &hvel, float &vvel, float &hpos, float &vp
vpos = _ev_pos_test_ratio(1);
}
void Ekf::getBaroHgtInnov(float &baro_hgt_innov)
{
baro_hgt_innov = _baro_hgt_innov(2);
}
void Ekf::getBaroHgtInnovVar(float &baro_hgt_innov_var)
{
baro_hgt_innov_var = _baro_hgt_innov_var(2);
}
void Ekf::getBaroHgtInnovRatio(float &baro_hgt_innov_ratio)
{
baro_hgt_innov_ratio = _baro_hgt_test_ratio(1);
}
void Ekf::getRngHgtInnov(float &rng_hgt_innov)
{
rng_hgt_innov = _rng_hgt_innov(2);
}
void Ekf::getRngHgtInnovVar(float &rng_hgt_innov_var)
{
rng_hgt_innov_var = _rng_hgt_innov_var(2);
}
void Ekf::getRngHgtInnovRatio(float &rng_hgt_innov_ratio)
{
rng_hgt_innov_ratio = _rng_hgt_test_ratio(1);
}
void Ekf::getAuxVelInnov(float aux_vel_innov[2])
{
aux_vel_innov[0] = _aux_vel_innov(0);