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EKF: replace reset event times with event counters

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Using a 64bit integer was unnecessary given it was only being used to detect a new reset event.
This commit is contained in:
Paul Riseborough
2016-06-01 17:13:00 +10:00
parent 70f76e1a6c
commit 6a55d908c5
4 changed files with 33 additions and 33 deletions
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EKF/estimator_interface.h
+10 -10
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@@ -217,20 +217,20 @@ public:
// get GPS check status
virtual void get_gps_check_status(uint16_t *val) = 0;
// return the amount the local vertical position changed in the last reset and the time of the reset
virtual void get_posD_reset(float *delta, uint64_t *time_us) = 0;
// return the amount the local vertical position changed in the last reset and the number of reset events
virtual void get_posD_reset(float *delta, uint8_t *counter) = 0;
// return the amount the local vertical velocity changed in the last reset and the time of the reset
virtual void get_velD_reset(float *delta, uint64_t *time_us) = 0;
// return the amount the local vertical velocity changed in the last reset and the number of reset events
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 time of the reset
virtual void get_posNE_reset(Vector2f *delta, uint64_t *time_us) = 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;
// return the amount the local horizontal velocity changed in the last reset and the time of the reset
virtual void get_velNE_reset(Vector2f *delta, uint64_t *time_us) = 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;
// return the amount the quaternion has changed in the last reset and the time of the reset
virtual void get_quat_reset(Quaternion *delta, uint64_t *time_us) = 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;
// get EKF innovation consistency check status
virtual void get_innovation_test_status(uint16_t *val)