From 54ab8191e34b06dd2e6f96fe1b0adb971c5b77f0 Mon Sep 17 00:00:00 2001 From: Carl Olsson Date: Wed, 6 Feb 2019 14:49:16 +0100 Subject: [PATCH] EKF: add method to get the terrain variance --- EKF/ekf.h | 3 +++ 1 file changed, 3 insertions(+) diff --git a/EKF/ekf.h b/EKF/ekf.h index 93f3507a7f..853859f086 100644 --- a/EKF/ekf.h +++ b/EKF/ekf.h @@ -194,6 +194,9 @@ public: // get the estimated terrain vertical position relative to the NED origin void get_terrain_vert_pos(float *ret); + // get the terrain variance + float get_terrain_var() const { return _terrain_var; } + // get the accerometer bias in m/s/s void get_accel_bias(float bias[3]);