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EKF: add method to get the terrain variance

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Carl Olsson
2019-02-06 08:49:16 -05:00
committed by Daniel Agar
parent c5554cae96
commit 54ab8191e3
1 changed files with 3 additions and 0 deletions
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EKF/ekf.h
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@@ -194,6 +194,9 @@ public:
// get the estimated terrain vertical position relative to the NED origin // get the estimated terrain vertical position relative to the NED origin
void get_terrain_vert_pos(float *ret); 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 // get the accerometer bias in m/s/s
void get_accel_bias(float bias[3]); void get_accel_bias(float bias[3]);