fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-15 06:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Test Airspeed fusion

Browse Source
This commit is contained in:
kamilritz
2020-01-14 15:16:25 +03:00
committed by Roman Bapst
parent 7ed6a437c7
commit 5b02310f43
4 changed files with 111 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/sensor_simulator/ekf_wrapper.cpp
+7
View File
@@ -163,6 +163,13 @@ Vector3f EkfWrapper::getVelocityVariance() const
return Vector3f(_ekf->velocity_covariances().diag());
}
Vector2f EkfWrapper::getWindVelocity() const
{
float temp[2];
_ekf->get_wind_velocity(temp);
return Vector2f(temp);
}
Quatf EkfWrapper::getVisionAlignmentQuaternion() const
{
float temp[4];
test/sensor_simulator/ekf_wrapper.h
+1
View File
@@ -80,6 +80,7 @@ public:
matrix::Vector<float, 4> getQuaternionVariance() const;
Vector3f getPositionVariance() const;
Vector3f getVelocityVariance() const;
Vector2f getWindVelocity() const;
Quatf getVisionAlignmentQuaternion() const;