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change state reset information interface for more convenient handling

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on firmware side
This commit is contained in:
Roman Bapst
2016-06-06 13:22:20 +02:00
parent f08aee0a7d
commit 670c6ca019
2 changed files with 13 additions and 7 deletions
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EKF/ekf.h
+10 -4
View File
@@ -134,15 +134,21 @@ public:
void get_velD_reset(float *delta, uint8_t *counter) {*delta = _state_reset_status.velD_change; *counter = _state_reset_status.velD_counter;}
// return the amount the local horizontal position changed in the last reset and the number of reset events
void get_posNE_reset(Vector2f *delta, uint8_t *counter) {*delta = _state_reset_status.posNE_change; *counter = _state_reset_status.posNE_counter;}
void get_posNE_reset(float delta[2], uint8_t *counter){
memcpy(delta, &_state_reset_status.posNE_change._data[0], sizeof(_state_reset_status.posNE_change._data));
*counter = _state_reset_status.posNE_counter;
}
// return the amount the local horizontal velocity changed in the last reset and the number of reset events
void get_velNE_reset(Vector2f *delta, uint8_t *counter) {*delta = _state_reset_status.velNE_change; *counter = _state_reset_status.velNE_counter;}
void get_velNE_reset(float delta[2], uint8_t *counter) {
memcpy(delta, &_state_reset_status.velNE_change._data[0], sizeof(_state_reset_status.velNE_change._data));
*counter = _state_reset_status.velNE_counter;
}
// return the amount the quaternion has changed in the last reset and the number of reset events
void get_quat_reset(Quaternion *delta, uint8_t *counter)
void get_quat_reset(float delta_quat[4], uint8_t *counter)
{
*delta = _state_reset_status.quat_change;
memcpy(delta_quat, &_state_reset_status.quat_change._data[0], sizeof(_state_reset_status.quat_change._data));
*counter = _state_reset_status.quat_counter;
}
EKF/estimator_interface.h
+3 -3
View File
@@ -224,13 +224,13 @@ public:
virtual void get_velD_reset(float *delta, uint8_t *counter) = 0;
// return the amount the local horizontal position changed in the last reset and the number of reset events
virtual void get_posNE_reset(Vector2f *delta, uint8_t *counter) = 0;
virtual void get_posNE_reset(float delta[2], uint8_t *counter) = 0;
// return the amount the local horizontal velocity changed in the last reset and the number of reset events
virtual void get_velNE_reset(Vector2f *delta, uint8_t *counter) = 0;
virtual void get_velNE_reset(float delta[2], uint8_t *counter) = 0;
// return the amount the quaternion has changed in the last reset and the number of reset events
virtual void get_quat_reset(Quaternion *delta, uint8_t *counter) = 0;
virtual void get_quat_reset(float delta_quat[4], uint8_t *counter) = 0;
// get EKF innovation consistency check status
virtual void get_innovation_test_status(uint16_t *val)