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ekf2: yaw estimator add yaw_composite_valid boolean

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This commit is contained in:
Daniel Agar
2022-06-01 13:16:06 -04:00
parent a218f4bfaf
commit 3889b79342
3 changed files with 5 additions and 3 deletions
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src/modules/ekf2/EKF/ekf.h
+3 -3
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@@ -338,6 +338,9 @@ public:
bool getDataEKFGSF(float *yaw_composite, float *yaw_variance, float yaw[N_MODELS_EKFGSF],
float innov_VN[N_MODELS_EKFGSF], float innov_VE[N_MODELS_EKFGSF], float weight[N_MODELS_EKFGSF]);
// Returns true if the output of the yaw emergency estimator can be used for a reset
bool isYawEmergencyEstimateAvailable() const;
const BaroBiasEstimator::status &getBaroBiasEstimatorStatus() const { return _baro_b_est.getStatus(); }
const auto &aid_src_baro_hgt() const { return _aid_src_baro_hgt; }
@@ -1062,9 +1065,6 @@ private:
// Returns true if the reset was successful
bool resetYawToEKFGSF();
// Returns true if the output of the yaw emergency estimator can be used for a reset
bool isYawEmergencyEstimateAvailable() const;
void resetGpsDriftCheckFilters();
bool resetEstimatorAidStatusFlags(estimator_aid_source_1d_s &status) const