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flight_mode_manager: pass deltas on estimator reset

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This commit is contained in:
Daniel Agar
2021-07-19 09:34:07 -04:00
parent d79eea0c41
commit 87610957a4
10 changed files with 32 additions and 32 deletions
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src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp
+2 -2
View File
@@ -77,12 +77,12 @@ bool FlightTaskManualAcceleration::update()
return ret;
}
void FlightTaskManualAcceleration::_ekfResetHandlerPositionXY()
void FlightTaskManualAcceleration::_ekfResetHandlerPositionXY(const matrix::Vector2f &delta_xy)
{
_stick_acceleration_xy.resetPosition();
}
void FlightTaskManualAcceleration::_ekfResetHandlerVelocityXY()
void FlightTaskManualAcceleration::_ekfResetHandlerVelocityXY(const matrix::Vector2f &delta_vxy)
{
_stick_acceleration_xy.resetVelocity(_velocity.xy());
}
src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.hpp
+2 -2
View File
@@ -56,6 +56,6 @@ private:
StickAccelerationXY _stick_acceleration_xy;
StickYaw _stick_yaw;
void _ekfResetHandlerPositionXY() override;
void _ekfResetHandlerVelocityXY() override;
void _ekfResetHandlerPositionXY(const matrix::Vector2f &delta_xy) override;
void _ekfResetHandlerVelocityXY(const matrix::Vector2f &delta_vxy) override;
};