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EKF: Add interfaces and variables to use ext vision data

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Paul Riseborough
2016-05-14 21:17:29 +10:00
parent 172f4be594
commit 3a0fcd03d7
3 changed files with 55 additions and 0 deletions
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EKF/estimator_interface.h
+5
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@@ -145,6 +145,9 @@ public:
// set optical flow data
void setOpticalFlowData(uint64_t time_usec, flow_message *flow);
// set external vision position and attitude data
void setExtVisionData(uint64_t time_usec, ext_vision_message *evdata);
// return a address to the parameters struct
// in order to give access to the application
parameters *getParamHandle() {return &_params;}
@@ -277,6 +280,7 @@ protected:
RingBuffer<rangeSample> _range_buffer;
RingBuffer<airspeedSample> _airspeed_buffer;
RingBuffer<flowSample> _flow_buffer;
RingBuffer<extVisionSample> _ext_vision_buffer;
RingBuffer<outputSample> _output_buffer;
uint64_t _time_last_imu; // timestamp of last imu sample in microseconds
@@ -285,6 +289,7 @@ protected:
uint64_t _time_last_baro; // timestamp of last barometer measurement in microseconds
uint64_t _time_last_range; // timestamp of last range measurement in microseconds
uint64_t _time_last_airspeed; // timestamp of last airspeed measurement in microseconds
uint64_t _time_last_ext_vision; // timestamp of last external vision measurement in microseconds
uint64_t _time_last_optflow;
fault_status_u _fault_status;