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drag innov member variables to Vector2f

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kamilritz
2020-08-04 09:57:00 +02:00
committed by Mathieu Bresciani
parent 960b80ee71
commit 7609bc69b2
4 changed files with 20 additions and 20 deletions
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EKF/estimator_interface.h
+5 -5
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@@ -480,18 +480,18 @@ protected:
// innovation consistency check monitoring ratios
float _yaw_test_ratio{}; // yaw innovation consistency check ratio
Vector3f _mag_test_ratio; // magnetometer XYZ innovation consistency check ratios
Vector2f _gps_vel_test_ratio; // GPS velocity innovation consistency check ratios
Vector2f _gps_pos_test_ratio; // GPS position innovation consistency check ratios
Vector2f _gps_vel_test_ratio; // GPS velocity innovation consistency check ratios
Vector2f _gps_pos_test_ratio; // GPS position innovation consistency check ratios
Vector2f _ev_vel_test_ratio; // EV velocity innovation consistency check ratios
Vector2f _ev_pos_test_ratio ; // EV position innovation consistency check ratios
Vector2f _aux_vel_test_ratio; // Auxiliray horizontal velocity innovation consistency check ratio
Vector2f _baro_hgt_test_ratio; // baro height innovation consistency check ratios
Vector2f _rng_hgt_test_ratio; // range finder height innovation consistency check ratios
Vector2f _baro_hgt_test_ratio; // baro height innovation consistency check ratios
Vector2f _rng_hgt_test_ratio; // range finder height innovation consistency check ratios
float _optflow_test_ratio{}; // Optical flow innovation consistency check ratio
float _tas_test_ratio{}; // tas innovation consistency check ratio
float _hagl_test_ratio{}; // height above terrain measurement innovation consistency check ratio
float _beta_test_ratio{}; // sideslip innovation consistency check ratio
float _drag_test_ratio[2] {}; // drag innovation consistency check ratio
Vector2f _drag_test_ratio; // drag innovation consistency check ratio
innovation_fault_status_u _innov_check_fail_status{};
bool _is_dead_reckoning{false}; // true if we are no longer fusing measurements that constrain horizontal velocity drift