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EKF: publish control limits for optical flow navigation

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Paul Riseborough
2017-10-20 14:22:06 +11:00
parent afa8844eb7
commit 9857fb9eb6
3 changed files with 44 additions and 0 deletions
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EKF/ekf.h
+7
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@@ -138,6 +138,13 @@ public:
// get the 1-sigma horizontal and vertical velocity uncertainty
void get_ekf_vel_accuracy(float *ekf_evh, float *ekf_evv, bool *dead_reckoning);
/*
Returns the following vehicle control limits required by the estimator.
vxy_max : Maximum ground relative horizontal speed (metres/sec). NaN when no limiting required.
tilt_rate_max : maximum allowed tilt rate against the direction of travel (rad/sec). NaN when no limiting required.
*/
void get_ekf_ctrl_limits(float *vxy_max, bool *limit_hagl);
void get_vel_var(Vector3f &vel_var);
void get_pos_var(Vector3f &pos_var);