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TECS: Use version in ECL library

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This change updates a number of interfaces to use the new TECS implementation from the ECL library.
This commit is contained in:
Paul Riseborough
2017-09-05 11:54:08 +10:00
committed by Lorenz Meier
parent 4923d0cba3
commit 3fc7aba178
6 changed files with 62 additions and 59 deletions
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src/modules/ekf2/ekf2_main.cpp
+7
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@@ -904,6 +904,13 @@ void Ekf2::run()
_ekf.get_pos_d_deriv(&pos_d_deriv);
lpos.z_deriv = pos_d_deriv; // vertical position time derivative (m/s)
// Acceleration of body origin in local NED frame
float vel_deriv[3] = {};
_ekf.get_vel_deriv_ned(vel_deriv);
lpos.ax = vel_deriv[0];
lpos.ay = vel_deriv[1];
lpos.az = vel_deriv[2];
// TODO: better status reporting
lpos.xy_valid = _ekf.local_position_is_valid() && !_vel_innov_preflt_fail;
lpos.z_valid = !_vel_innov_preflt_fail;