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ekf2: publish GNSS, rng and EV height biases

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bresch
2022-08-24 09:16:11 -04:00
committed by Daniel Agar
parent 6833c7e311
commit aba2eac0df
7 changed files with 85 additions and 13 deletions
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src/modules/ekf2/EKF/ekf.h
+3
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@@ -392,6 +392,9 @@ public:
bool isYawEmergencyEstimateAvailable() const;
const BiasEstimator::status &getBaroBiasEstimatorStatus() const { return _baro_b_est.getStatus(); }
const BiasEstimator::status &getGpsHgtBiasEstimatorStatus() const { return _gps_hgt_b_est.getStatus(); }
const BiasEstimator::status &getRngHgtBiasEstimatorStatus() const { return _rng_hgt_b_est.getStatus(); }
const BiasEstimator::status &getEvHgtBiasEstimatorStatus() const { return _ev_hgt_b_est.getStatus(); }
const auto &aid_src_airspeed() const { return _aid_src_airspeed; }
src/modules/ekf2/EKF/estimator_interface.h
+2
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@@ -257,6 +257,8 @@ public:
const baroSample &get_baro_sample_delayed() const { return _baro_sample_delayed; }
const gpsSample &get_gps_sample_delayed() const { return _gps_sample_delayed; }
const rangeSample &get_rng_sample_delayed() { return *(_range_sensor.getSampleAddress()); }
const extVisionSample &get_ev_sample_delayed() const { return _ev_sample_delayed; }
const bool &global_origin_valid() const { return _NED_origin_initialised; }
const MapProjection &global_origin() const { return _pos_ref; }