fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-20 06:03:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf: added methods for setting control height flags

Browse Source 
Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2017-06-15 09:10:43 +02:00
committed by ChristophTobler
parent d6decb3c84
commit a1e67396f4
2 changed files with 48 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/ekf_helper.cpp
+36
View File
@@ -1162,3 +1162,39 @@ void Ekf::initialiseQuatCovariances(Vector3f &rot_vec_var)
}
}
void Ekf::setControlBaroHeight()
{
_control_status.flags.baro_hgt = true;
_control_status.flags.gps_hgt = false;
_control_status.flags.rng_hgt = false;
_control_status.flags.ev_hgt = false;
}
void Ekf::setControlRangeHeight()
{
_control_status.flags.rng_hgt = true;
_control_status.flags.baro_hgt = false;
_control_status.flags.gps_hgt = false;
_control_status.flags.ev_hgt = false;
}
void Ekf::setControlGPSHeight()
{
_control_status.flags.gps_hgt = true;
_control_status.flags.baro_hgt = false;
_control_status.flags.rng_hgt = false;
_control_status.flags.ev_hgt = false;
}
void Ekf::setControlEVHeight()
{
_control_status.flags.ev_hgt = true;
_control_status.flags.baro_hgt = false;
_control_status.flags.gps_hgt = false;
_control_status.flags.rng_hgt = false;
}