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adopted ekf.h

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CarlOlsson
2016-03-30 17:01:03 +02:00
committed by Roman Bapst
parent 0918fa04c7
commit 6bb2f7638c
1 changed files with 9 additions and 0 deletions
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EKF/ekf.h
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@@ -73,6 +73,12 @@ public:
// gets the innovation variances of the earth magnetic field measurements
void get_mag_innov_var(float mag_innov_var[3]);
// gets the innovations of airspeed measurement
void get_airspeed_innov(float *airspeed_innov);
// gets the innovation variance of the airspeed measurement
void get_airspeed_innov_var(float *airspeed_innov_var);
// gets the innovation variance of the heading measurement
void get_heading_innov_var(float *heading_innov_var);
@@ -155,6 +161,9 @@ private:
float _mag_innov[3]; // earth magnetic field innovations
float _mag_innov_var[3]; // earth magnetic field innovation variance
float _airspeed_innov; // airspeed measurement innovation
float _airspeed_innov_var; // airspeed measurement innovation variance
float _heading_innov; // heading measurement innovation
float _heading_innov_var; // heading measurement innovation variance