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ekf_att_pos_estimator: publish placeholder values for accuracy reporting

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priseborough
2017-05-03 08:37:14 +02:00
committed by Lorenz Meier
parent 68c1ffd3e5
commit 3680057e6d
1 changed files with 10 additions and 0 deletions
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src/examples/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+10
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@@ -954,6 +954,12 @@ void AttitudePositionEstimatorEKF::publishLocalPosition()
_local_pos.v_z_valid = true;
_local_pos.xy_global = _gps_initialized; //TODO: Handle optical flow mode here
// TODO provide calculated values for these
_local_pos.eph = 0.0f;
_local_pos.epv = 0.0f;
_local_pos.evh = 0.0f;
_local_pos.evv = 0.0f;
_local_pos.z_global = false;
matrix::Eulerf euler = matrix::Quatf(_ekf->states[0], _ekf->states[1], _ekf->states[2], _ekf->states[3]);
_local_pos.yaw = euler.psi();
@@ -1054,6 +1060,10 @@ void AttitudePositionEstimatorEKF::publishGlobalPosition()
return;
}
// TODO provide calculated values for these
_global_pos.evh = 0.0f;
_global_pos.evv = 0.0f;
/* lazily publish the global position only once available */
if (_global_pos_pub != nullptr) {
/* publish the global position */