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Add get*innovation* functions as overide

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This commit is contained in:
kamilritz
2019-12-05 20:09:34 +11:00
committed by Paul Riseborough
parent 07e804676c
commit 3923c5fecb
1 changed files with 31 additions and 31 deletions
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EKF/ekf.h
+31 -31
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@@ -63,65 +63,65 @@ public:
// should be called every time new data is pushed into the filter
bool update() override;
void getGpsVelPosInnov(float hvel[2], float &vvel, float hpos[2], float &vpos);
void getGpsVelPosInnov(float hvel[2], float &vvel, float hpos[2], float &vpos) override;
void getGpsVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &vpos);
void getGpsVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &vpos) override;
void getGpsVelPosInnovRatio(float& hvel, float &vvel, float& hpos, float &vpos);
void getGpsVelPosInnovRatio(float& hvel, float &vvel, float& hpos, float &vpos) override;
void getEvVelPosInnov(float hvel[2], float& vvel, float hpos[2], float& vpos);
void getEvVelPosInnov(float hvel[2], float& vvel, float hpos[2], float& vpos) override;
void getEvVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &vpos);
void getEvVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &vpos) override;
void getEvVelPosInnovRatio(float& hvel, float &vvel, float& hpos, float &vpos);
void getEvVelPosInnovRatio(float& hvel, float &vvel, float& hpos, float &vpos) override;
void getAuxVelInnov(float aux_vel_innov[2]);
void getAuxVelInnov(float aux_vel_innov[2]) override;
void getAuxVelInnovVar(float aux_vel_innov[2]);
void getAuxVelInnovVar(float aux_vel_innov[2]) override;
void getAuxVelInnovRatio(float &aux_vel_innov_ratio);
void getAuxVelInnovRatio(float &aux_vel_innov_ratio) override;
void getFlowInnov(float flow_innov[2]);
void getFlowInnov(float flow_innov[2]) override;
void getFlowInnovVar(float flow_innov_var[2]);
void getFlowInnovVar(float flow_innov_var[2]) override;
void getFlowInnovRatio(float &flow_innov_ratio);
void getFlowInnovRatio(float &flow_innov_ratio) override;
void getHeadingInnov(float &heading_innov);
void getHeadingInnov(float &heading_innov) override;
void getHeadingInnovVar(float &heading_innov_var);
void getHeadingInnovVar(float &heading_innov_var) override;
void getHeadingInnovRatio(float &heading_innov_ratio);
void getHeadingInnovRatio(float &heading_innov_ratio) override;
void getMagInnov(float mag_innov[3]);
void getMagInnov(float mag_innov[3]) override;
void getMagInnovVar(float mag_innov_var[3]);
void getMagInnovVar(float mag_innov_var[3]) override;
void getMagInnovRatio(float &mag_innov_ratio);
void getMagInnovRatio(float &mag_innov_ratio) override;
void getDragInnov(float drag_innov[2]);
void getDragInnov(float drag_innov[2]) override;
void getDragInnovVar(float drag_innov_var[2]);
void getDragInnovVar(float drag_innov_var[2]) override;
void getDragInnovRatio(float drag_innov_ratio[2]);
void getDragInnovRatio(float drag_innov_ratio[2]) override;
void getAirspeedInnov(float &airspeed_innov);
void getAirspeedInnov(float &airspeed_innov) override;
void getAirspeedInnovVar(float &airspeed_innov_var);
void getAirspeedInnovVar(float &airspeed_innov_var) override;
void getAirspeedInnovRatio(float &airspeed_innov_ratio);
void getAirspeedInnovRatio(float &airspeed_innov_ratio) override;
void getBetaInnov(float &beta_innov);
void getBetaInnov(float &beta_innov) override;
void getBetaInnovVar(float &beta_innov_var);
void getBetaInnovVar(float &beta_innov_var) override;
void getBetaInnovRatio(float &beta_innov_ratio);
void getBetaInnovRatio(float &beta_innov_ratio) override;
void getHaglInnov(float &hagl_innov);
void getHaglInnov(float &hagl_innov) override;
void getHaglInnovVar(float &hagl_innov_var);
void getHaglInnovVar(float &hagl_innov_var) override;
void getHaglInnovRatio(float &hagl_innov_ratio);
void getHaglInnovRatio(float &hagl_innov_ratio) override;
// get the state vector at the delayed time horizon
void get_state_delayed(float *state) override;
@@ -261,7 +261,7 @@ public:
// Innovation Test Ratios - these are the ratio of the innovation to the acceptance threshold.
// A value > 1 indicates that the sensor measurement has exceeded the maximum acceptable level and has been rejected by the EKF
// Where a measurement type is a vector quantity, eg magnetometer, GPS position, etc, the maximum value is returned.
void get_innovation_test_status(uint16_t &status, float &mag, float &gps_vel, float &gps_pos, float &ev_vel, float &ev_pos, float &hgt, float &tas, float &hagl, float &beta);
void get_innovation_test_status(uint16_t &status, float &mag, float &gps_vel, float &gps_pos, float &ev_vel, float &ev_pos, float &hgt, float &tas, float &hagl, float &beta) override;
// return a bitmask integer that describes which state estimates can be used for flight control
void get_ekf_soln_status(uint16_t *status) override;