EKF: add struct to capture state reset events

EKF/estimator_interface.cpp

@@ -71,6 +71,7 @@ EstimatorInterface::EstimatorInterface():
 	_pos_ref = {};
 	memset(_mag_test_ratio, 0, sizeof(_mag_test_ratio));
 	memset(_vel_pos_test_ratio, 0, sizeof(_vel_pos_test_ratio));
+	_state_reset_status = {};
 }
 
 EstimatorInterface::~EstimatorInterface()

EKF/estimator_interface.h

@@ -266,6 +266,21 @@ protected:
 	float _tas_test_ratio;		// tas innovation consistency check ratio
 	innovation_fault_status_u _innov_check_fail_status;
 
+	// reset event monitoring
+	// structure containing velocity, position, height and yaw reset information
+	struct {
+		uint64_t velNE_time_us; // time stamp of the last horizontal velocity reset event (us)
+		uint64_t velD_time_us;	// time stamp of the last vertical velocity reset event (us)
+		uint64_t posNE_time_us; // time stamp of the last horizontal position reset event (us)
+		uint64_t posD_time_us;	// time stamp of the last vertical position reset event (us)
+		uint64_t yaw_time_us;   // time stamp of the last yaw angle reset event (us)
+		Vector2f velNE_change;  // North East velocity change due to last reset (m)
+		float velD_change;	// Down velocity change due to last reset (m/s)
+		Vector2f posNE_change;	// North, East position change due to last reset (m)
+		float posD_change;	// Down position change due to last reset (m)
+		float yaw_change;	// Yaw angle change due to last reset (rad)
+	} _state_reset_status;
+
 	// data buffer instances
 	RingBuffer<imuSample> _imu_buffer;
 	RingBuffer<gpsSample> _gps_buffer;