fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 08:43:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Interface: output vector quantities by "return-by-value"

Browse Source
This commit is contained in:
kamilritz
2020-03-30 13:07:00 +02:00
committed by Mathieu Bresciani
parent 72d8f91b4d
commit 2fa43419d2
16 changed files with 126 additions and 233 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/airspeed_fusion.cpp
+5 -8
View File
@@ -225,16 +225,14 @@ void Ekf::fuseAirspeed()
}
}
void Ekf::get_wind_velocity(float *wind)
Vector2f Ekf::getWindVelocity() const
{
wind[0] = _state.wind_vel(0);
wind[1] = _state.wind_vel(1);
return _state.wind_vel;
}
void Ekf::get_wind_velocity_var(float *wind_var)
Vector2f Ekf::getWindVelocityVariance() const
{
wind_var[0] = P(22,22);
wind_var[1] = P(23,23);
return P.slice<2, 2>(22,22).diag();
}
void Ekf::get_true_airspeed(float *tas)
@@ -248,8 +246,7 @@ void Ekf::get_true_airspeed(float *tas)
*/
void Ekf::resetWindStates()
{
// get euler yaw angle
Eulerf euler321(_state.quat_nominal);
const Eulerf euler321(_state.quat_nominal);
const float euler_yaw = euler321(2);
if (_tas_data_ready && (_imu_sample_delayed.time_us - _airspeed_sample_delayed.time_us < (uint64_t)5e5)) {