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Colocate struct stateSample with other instances of *Sample structs.

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mcsauder 2022-04-21 15:52:16 -06:00 committed by Daniel Agar
parent a0d9687409
commit 2a66be4899
1 changed files with 11 additions and 11 deletions
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22
src/modules/ekf2/EKF/common.h
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@ -166,6 +166,17 @@ struct auxVelSample {
Vector3f velVar{}; ///< estimated error variance of the NE velocity (m/sec)**2
};
struct stateSample {
Quatf quat_nominal{}; ///< quaternion defining the rotation from body to earth frame
Vector3f vel{}; ///< NED velocity in earth frame in m/s
Vector3f pos{}; ///< NED position in earth frame in m
Vector3f delta_ang_bias{}; ///< delta angle bias estimate in rad
Vector3f delta_vel_bias{}; ///< delta velocity bias estimate in m/s
Vector3f mag_I{}; ///< NED earth magnetic field in gauss
Vector3f mag_B{}; ///< magnetometer bias estimate in body frame in gauss
Vector2f wind_vel{}; ///< horizontal wind velocity in earth frame in m/s
};
// Integer definitions for vdist_sensor_type
#define VDIST_SENSOR_BARO 0 ///< Use baro height
#define VDIST_SENSOR_GPS 1 ///< Use GPS height
@ -389,17 +400,6 @@ struct parameters {
const unsigned EKFGSF_reset_count_limit{3}; ///< Maximum number of times the yaw can be reset to the EKF-GSF yaw estimator value
};
struct stateSample {
Quatf quat_nominal{}; ///< quaternion defining the rotation from body to earth frame
Vector3f vel{}; ///< NED velocity in earth frame in m/s
Vector3f pos{}; ///< NED position in earth frame in m
Vector3f delta_ang_bias{}; ///< delta angle bias estimate in rad
Vector3f delta_vel_bias{}; ///< delta velocity bias estimate in m/s
Vector3f mag_I{}; ///< NED earth magnetic field in gauss
Vector3f mag_B{}; ///< magnetometer bias estimate in body frame in gauss
Vector2f wind_vel{}; ///< horizontal wind velocity in earth frame in m/s
};
union fault_status_u {
struct {
bool bad_mag_x : 1; ///< 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error