From 6bb2f7638c261384506b16b293db732ad1439a8f Mon Sep 17 00:00:00 2001 From: CarlOlsson Date: Fri, 11 Mar 2016 12:52:38 +0100 Subject: [PATCH] adopted ekf.h --- EKF/ekf.h | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/EKF/ekf.h b/EKF/ekf.h index 51a01a9be2..b98f9769d3 100644 --- a/EKF/ekf.h +++ b/EKF/ekf.h @@ -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