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ekf2_test: add multi height source unit tests

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bresch
2022-08-24 09:16:11 -04:00
committed by Daniel Agar
parent aba2eac0df
commit 3fb218600a
4 changed files with 304 additions and 0 deletions
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src/modules/ekf2/EKF/ekf.h
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@@ -391,6 +391,7 @@ public:
// Returns true if the output of the yaw emergency estimator can be used for a reset
bool isYawEmergencyEstimateAvailable() const;
uint8_t getHeightSensorRef() const { return _height_sensor_ref; }
const BiasEstimator::status &getBaroBiasEstimatorStatus() const { return _baro_b_est.getStatus(); }
const BiasEstimator::status &getGpsHgtBiasEstimatorStatus() const { return _gps_hgt_b_est.getStatus(); }
const BiasEstimator::status &getRngHgtBiasEstimatorStatus() const { return _rng_hgt_b_est.getStatus(); }