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EKF: move the reset status struct to the Ekf class

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This protects it from being modified externally
This commit is contained in:
Paul Riseborough
2016-06-01 17:13:00 +10:00
parent aca0336392
commit 733862f649
4 changed files with 16 additions and 16 deletions
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EKF/estimator_interface.h
-15
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@@ -266,21 +266,6 @@ protected:
float _tas_test_ratio; // tas innovation consistency check ratio
innovation_fault_status_u _innov_check_fail_status;
// reset event monitoring
// structure containing velocity, position, height and yaw reset information
struct {
uint64_t velNE_time_us; // time stamp of the last horizontal velocity reset event (us)
uint64_t velD_time_us; // time stamp of the last vertical velocity reset event (us)
uint64_t posNE_time_us; // time stamp of the last horizontal position reset event (us)
uint64_t posD_time_us; // time stamp of the last vertical position reset event (us)
uint64_t yaw_time_us; // time stamp of the last yaw angle reset event (us)
Vector2f velNE_change; // North East velocity change due to last reset (m)
float velD_change; // Down velocity change due to last reset (m/s)
Vector2f posNE_change; // North, East position change due to last reset (m)
float posD_change; // Down position change due to last reset (m)
float yaw_change; // Yaw angle change due to last reset (rad)
} _state_reset_status;
// data buffer instances
RingBuffer<imuSample> _imu_buffer;
RingBuffer<gpsSample> _gps_buffer;