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Test Airspeed fusion

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This commit is contained in:
kamilritz
2020-01-09 17:03:47 +01:00
committed by Roman Bapst
parent 7ed6a437c7
commit 5b02310f43
4 changed files with 111 additions and 0 deletions
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test/sensor_simulator/ekf_wrapper.cpp
+7
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@@ -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];