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EKF: publish innovation consistency check fail status

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Paul Riseborough
2016-05-24 07:44:43 +10:00
parent e371a303a9
commit 70f76e1a6c
1 changed files with 6 additions and 0 deletions
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EKF/estimator_interface.h
+6
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@@ -232,6 +232,12 @@ public:
// 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;
// get EKF innovation consistency check status
virtual void get_innovation_test_status(uint16_t *val)
{
*val = _innov_check_fail_status.value;
}
protected:
parameters _params; // filter parameters