fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 06:33:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2 airspeed fusion:

Browse Source 
- finished logic for fusion
- fixed bug where previous control status was set in the wrong location
This commit is contained in:
Roman Bapst
2016-04-19 09:53:31 +02:00
parent 60abf07bee
commit 99fc61c27c
8 changed files with 172 additions and 83 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/ekf.h
+1
View File
@@ -147,6 +147,7 @@ private:
uint64_t _time_last_vel_fuse; // time the last fusion of velocity measurements was performed (usec)
uint64_t _time_last_hgt_fuse; // time the last fusion of height measurements was performed (usec)
uint64_t _time_last_of_fuse; // time the last fusion of optical flow measurements were performed (usec)
uint64_t _time_last_arsp_fuse; // time the last fusion of airspeed measurements were performed (usec)
Vector2f _last_known_posNE; // last known local NE position vector (m)
float _last_disarmed_posD; // vertical position recorded at arming (m)