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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; }