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Merge pull request #312 from PX4/pr-ekfExtVisQuat

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EKF: Enable operation with arbitrary External Vision reference frame
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Paul Riseborough
2017-11-12 08:35:39 +11:00
committed by GitHub
parent 368248fe6d 5fd006ca48
commit 7852c0ed03
7 changed files with 243 additions and 82 deletions
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EKF/estimator_interface.h
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@@ -236,6 +236,9 @@ public:
}
}
// return the quaternion defining the rotation from the EKF to the External Vision reference frame
virtual void get_ekf2ev_quaternion(float *quat) = 0;
// get the velocity of the body frame origin in local NED earth frame
void get_velocity(float *vel)
{