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ekf: return beta test ratio in get_innovation_test_status

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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
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CarlOlsson
2017-12-18 15:48:36 +01:00
parent e70206f74b
commit 5c8b22b43f
3 changed files with 5 additions and 3 deletions
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EKF/estimator_interface.h
+1 -1
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@@ -338,7 +338,7 @@ public:
// Innovation Test Ratios - these are the ratio of the innovation to the acceptance threshold.
// A value > 1 indicates that the sensor measurement has exceeded the maximum acceptable level and has been rejected by the EKF
// Where a measurement type is a vector quantity, eg magnetoemter, GPS position, etc, the maximum value is returned.
virtual void get_innovation_test_status(uint16_t *status, float *mag, float *vel, float *pos, float *hgt, float *tas, float *hagl) = 0;
virtual void get_innovation_test_status(uint16_t *status, float *mag, float *vel, float *pos, float *hgt, float *tas, float *hagl, float *beta) = 0;
// return a bitmask integer that describes which state estimates can be used for flight control
virtual void get_ekf_soln_status(uint16_t *status) = 0;