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EKF2: reset global position using variance

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bresch
2024-12-03 13:04:25 +01:00
committed by Mathieu Bresciani
parent 6b637f82f8
commit 8626019ae0
3 changed files with 6 additions and 6 deletions
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src/modules/ekf2/EKF/ekf.h
+3 -3
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@@ -191,9 +191,9 @@ public:
void getEkfGlobalOrigin(uint64_t &origin_time, double &latitude, double &longitude, float &origin_alt) const;
bool checkLatLonValidity(double latitude, double longitude);
bool checkAltitudeValidity(float altitude);
bool setEkfGlobalOrigin(double latitude, double longitude, float altitude, float eph = NAN, float epv = NAN);
bool resetGlobalPositionTo(double latitude, double longitude, float altitude, float eph = NAN,
float epv = NAN);
bool setEkfGlobalOrigin(double latitude, double longitude, float altitude, float hpos_var = NAN, float vpos_var = NAN);
bool resetGlobalPositionTo(double latitude, double longitude, float altitude, float hpos_var = NAN,
float vpos_var = NAN);
// get the 1-sigma horizontal and vertical position uncertainty of the ekf WGS-84 position
void get_ekf_gpos_accuracy(float *ekf_eph, float *ekf_epv) const;