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added function to return accelerometer bias

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Roman Bapst
2016-04-11 14:12:24 +02:00
parent f32303de69
commit 60abf07bee
2 changed files with 3 additions and 4 deletions
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EKF/ekf.h
+2
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@@ -121,6 +121,8 @@ public:
// return the estimated terrain vertical position relative to the NED origin
bool get_terrain_vert_pos(float *ret);
void get_accel_bias(float *bias) {*bias = _state.accel_z_bias;}
private:
static const uint8_t _k_num_states = 24;
EKF/estimator_interface.h
+1 -4
View File
@@ -209,10 +209,7 @@ public:
*val = _mag_declination_to_save_deg;
}
void copy_accel_bias(float *bias)
{
*bias = _state[15];
}
virtual void get_accel_bias(float *bias) = 0;
protected: