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Extend auxVel interface to support 3d velocity

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This commit is contained in:
kamilritz
2019-12-09 14:27:51 +01:00
committed by Mathieu Bresciani
parent 07e8e88e88
commit 84dcb32bd8
4 changed files with 12 additions and 10 deletions
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EKF/estimator_interface.cpp
+3 -3
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@@ -447,7 +447,7 @@ void EstimatorInterface::setExtVisionData(uint64_t time_usec, ext_vision_message
}
}
void EstimatorInterface::setAuxVelData(uint64_t time_usec, float (&data)[2], float (&variance)[2])
void EstimatorInterface::setAuxVelData(uint64_t time_usec, const Vector3f &velocity, const Vector3f &variance)
{
if (!_initialised || _auxvel_buffer_fail) {
return;
@@ -473,8 +473,8 @@ void EstimatorInterface::setAuxVelData(uint64_t time_usec, float (&data)[2], flo
auxvel_sample_new.time_us -= FILTER_UPDATE_PERIOD_MS * 1000 / 2;
_time_last_auxvel = time_usec;
auxvel_sample_new.velNE = Vector2f(data);
auxvel_sample_new.velVarNE = Vector2f(variance);
auxvel_sample_new.vel = velocity;
auxvel_sample_new.velVar = variance;
_auxvel_buffer.push(auxvel_sample_new);
}