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EKF add const state reset status access

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This commit is contained in:
Daniel Agar
2021-02-16 10:33:43 -05:00
committed by GitHub
parent 0c5291d194
commit 310f415175
1 changed files with 4 additions and 2 deletions
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EKF/ekf.h
+4 -2
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@@ -126,7 +126,7 @@ public:
const Vector2f &getWindVelocity() const { return _state.wind_vel; }; const Vector2f &getWindVelocity() const { return _state.wind_vel; };
// get the wind velocity var // get the wind velocity var
Vector2f getWindVelocityVariance() const { return P.slice<2, 2>(22,22).diag(); } Vector2f getWindVelocityVariance() const { return P.slice<2, 2>(22, 22).diag(); }
// get the true airspeed in m/s // get the true airspeed in m/s
void get_true_airspeed(float *tas) const; void get_true_airspeed(float *tas) const;
@@ -217,7 +217,7 @@ public:
Vector3f getGyroBias() const { return _state.delta_ang_bias / _dt_ekf_avg; } // get the gyroscope bias in rad/s Vector3f getGyroBias() const { return _state.delta_ang_bias / _dt_ekf_avg; } // get the gyroscope bias in rad/s
Vector3f getAccelBias() const { return _state.delta_vel_bias / _dt_ekf_avg; } // get the accelerometer bias in m/s**2 Vector3f getAccelBias() const { return _state.delta_vel_bias / _dt_ekf_avg; } // get the accelerometer bias in m/s**2
const Vector3f& getMagBias() const { return _state.mag_B; } const Vector3f &getMagBias() const { return _state.mag_B; }
Vector3f getGyroBiasVariance() const { return Vector3f{P(10, 10), P(11, 11), P(12, 12)} / _dt_ekf_avg; } // get the gyroscope bias variance in rad/s Vector3f getGyroBiasVariance() const { return Vector3f{P(10, 10), P(11, 11), P(12, 12)} / _dt_ekf_avg; } // get the gyroscope bias variance in rad/s
Vector3f getAccelBiasVariance() const { return Vector3f{P(13, 13), P(14, 14), P(15, 15)} / _dt_ekf_avg; } // get the accelerometer bias variance in m/s**2 Vector3f getAccelBiasVariance() const { return Vector3f{P(13, 13), P(14, 14), P(15, 15)} / _dt_ekf_avg; } // get the accelerometer bias variance in m/s**2
@@ -226,6 +226,8 @@ public:
// get GPS check status // get GPS check status
void get_gps_check_status(uint16_t *val) const { *val = _gps_check_fail_status.value; } void get_gps_check_status(uint16_t *val) const { *val = _gps_check_fail_status.value; }
const auto &state_reset_status() const { return _state_reset_status; }
// return the amount the local vertical position changed in the last reset and the number of reset events // return the amount the local vertical position changed in the last reset and the number of reset events
void get_posD_reset(float *delta, uint8_t *counter) const void get_posD_reset(float *delta, uint8_t *counter) const
{ {