fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-17 02:33:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Test external vision

Browse Source
This commit is contained in:
kamilritz
2020-01-08 14:36:03 +01:00
committed by Mathieu Bresciani
parent 84dcb32bd8
commit 1b0e137b8a
10 changed files with 388 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/sensor_simulator/ekf_wrapper.h
+17 -4
View File
@@ -48,17 +48,28 @@ public:
~EkfWrapper();
void enableGpsFusion();
void disableGpsFusion();
bool isIntendingGpsFusion() const;
void enableFlowFusion();
void disableFlowFusion();
bool isIntendingFlowFusion() const;
void enableExternalVisionPositionFusion();
void disableExternalVisionPositionFusion();
bool isIntendingExternalVisionPositionFusion() const;
void enableExternalVisionVelocityFusion();
void disableExternalVisionVelocityFusion();
bool isIntendingExternalVisionVelocityFusion() const;
void enableExternalVisionHeadingFusion();
void disableExternalVisionHeadingFusion();
bool isIntendingExternalVisionHeadingFusion() const;
void enableExternalVisionAlignment();
void disableExternalVisionAlignment();
Vector3f getPosition() const;
Vector3f getVelocity() const;
Vector3f getAccelBias() const;
@@ -70,6 +81,8 @@ public:
Vector3f getPositionVariance() const;
Vector3f getVelocityVariance() const;
Quatf getVisionAlignmentQuaternion() const;
private:
std::shared_ptr<Ekf> _ekf;