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EKF: Add validity flag to ekf origin reporting

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Flag is false until the origin has been initialised
This commit is contained in:
Paul Riseborough
2016-12-28 00:56:09 +01:00
committed by Lorenz Meier
parent b154ce9c33
commit 934890c2df
3 changed files with 8 additions and 4 deletions
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EKF/ekf_helper.cpp
+3 -1
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@@ -694,11 +694,13 @@ void Ekf::get_covariances(float *covariances)
}
// get the position and height of the ekf origin in WGS-84 coordinates and time the origin was set
void Ekf::get_ekf_origin(uint64_t *origin_time, map_projection_reference_s *origin_pos, float *origin_alt)
// return true if the origin is valid
bool Ekf::get_ekf_origin(uint64_t *origin_time, map_projection_reference_s *origin_pos, float *origin_alt)
{
memcpy(origin_time, &_last_gps_origin_time_us, sizeof(uint64_t));
memcpy(origin_pos, &_pos_ref, sizeof(map_projection_reference_s));
memcpy(origin_alt, &_gps_alt_ref, sizeof(float));
return _NED_origin_initialised;
}
// return an array containing the output predictor angular, velocity and position tracking