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EKF: added get_wind_velocity_var function

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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
This commit is contained in:
CarlOlsson
2017-10-02 14:47:56 +02:00
parent 705f93d0bf
commit 8200e4b218
3 changed files with 11 additions and 0 deletions
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EKF/airspeed_fusion.cpp
+6
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@@ -224,6 +224,12 @@ void Ekf::get_wind_velocity(float *wind)
wind[1] = _state.wind_vel(1);
}
void Ekf::get_wind_velocity_var(float *wind_var)
{
wind_var[0] = P[22][22];
wind_var[1] = P[23][23];
}
void Ekf::get_true_airspeed(float *tas)
{
float tempvar = sqrtf(sq(_state.vel(0) - _state.wind_vel(0)) + sq(_state.vel(1) - _state.wind_vel(1)) + sq(_state.vel(2)));