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EKF: publish output predictor tracking errors

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Paul Riseborough
2016-10-03 14:13:07 +11:00
parent c81f9f1dba
commit 65762e5998
4 changed files with 32 additions and 7 deletions
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EKF/estimator_interface.h
+7 -1
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@@ -88,8 +88,10 @@ public:
virtual void get_covariances(float *covariances) = 0;
// get the ekf WGS-84 origin position and height and the system time it was last set
// gets the variances for the NED velocity states
virtual void get_vel_var(Vector3f &vel_var) = 0;
// gets the variances for the NED position states
virtual void get_pos_var(Vector3f &pos_var) = 0;
// gets the innovation variance of the flow measurement
@@ -104,6 +106,10 @@ public:
// gets the innovation of the HAGL measurement
virtual void get_hagl_innov(float *flow_innov_var) = 0;
// return an array containing the output predictor angular, velocity and position tracking
// error magnitudes (rad), (m/s), (m)
virtual void get_output_tracking_error(float error[3]) = 0;
// get the ekf WGS-84 origin positoin and height and the system time it was last set
virtual void get_ekf_origin(uint64_t *origin_time, map_projection_reference_s *origin_pos, float *origin_alt) = 0;