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ekf: add logging of range finder consistency check

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bresch
2022-04-13 11:41:48 +02:00
committed by Mathieu Bresciani
parent baf9cc9597
commit 8693ad15a7
5 changed files with 16 additions and 0 deletions
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src/modules/ekf2/EKF/ekf.h
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@@ -128,6 +128,10 @@ public:
void getHaglInnovVar(float &hagl_innov_var) const { hagl_innov_var = _hagl_innov_var; }
void getHaglInnovRatio(float &hagl_innov_ratio) const { hagl_innov_ratio = _hagl_test_ratio; }
void getHaglRateInnov(float &hagl_rate_innov) const { hagl_rate_innov = _rng_consistency_check.getInnov(); }
void getHaglRateInnovVar(float &hagl_rate_innov_var) const { hagl_rate_innov_var = _rng_consistency_check.getInnovVar(); }
void getHaglRateInnovRatio(float &hagl_rate_innov_ratio) const { hagl_rate_innov_ratio = _rng_consistency_check.getSignedTestRatioLpf(); }
// get the state vector at the delayed time horizon
matrix::Vector<float, 24> getStateAtFusionHorizonAsVector() const;