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ECL: Simplify / correct estimator interface

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Lorenz Meier
2017-01-15 10:17:41 +01:00
parent c5a55d97aa
commit 453bde73f8
2 changed files with 19 additions and 20 deletions
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EKF/estimator_interface.h
+5 -6
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@@ -139,23 +139,22 @@ public:
virtual bool collect_imu(imuSample &imu) { return true; }
// set delta angle imu data
void setIMUData(uint64_t time_usec, uint64_t delta_ang_dt, uint64_t delta_vel_dt, float *delta_ang, float *delta_vel);
void setIMUData(uint64_t time_usec, uint64_t delta_ang_dt, uint64_t delta_vel_dt, float (&delta_ang)[3], float (&delta_vel)[3]);
// set magnetometer data
void setMagData(uint64_t time_usec, float *data);
//void setMagData(uint64_t time_usec, struct magSample *mag);
void setMagData(uint64_t time_usec, float (&data)[3]);
// set gps data
void setGpsData(uint64_t time_usec, struct gps_message *gps);
// set baro data
void setBaroData(uint64_t time_usec, float *data);
void setBaroData(uint64_t time_usec, float data);
// set airspeed data
void setAirspeedData(uint64_t time_usec, float *true_airspeed, float *eas2tas);
void setAirspeedData(uint64_t time_usec, float true_airspeed, float eas2tas);
// set range data
void setRangeData(uint64_t time_usec, float *data);
void setRangeData(uint64_t time_usec, float data);
// set optical flow data
void setOpticalFlowData(uint64_t time_usec, flow_message *flow);