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EKF: move estimator specific variables to estimator core

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bugobliterator
2016-01-30 12:45:23 -08:00
parent 287f5eb0c2
commit b062bd2e38
2 changed files with 4 additions and 2 deletions
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EKF/ekf.h
+4
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@@ -94,6 +94,8 @@ private:
static const uint8_t _k_num_states = 24; static const uint8_t _k_num_states = 24;
static constexpr float _k_earth_rate = 0.000072921f; static constexpr float _k_earth_rate = 0.000072921f;
stateSample _state;
bool _filter_initialised; bool _filter_initialised;
bool _earth_rate_initialised; bool _earth_rate_initialised;
@@ -129,6 +131,8 @@ private:
Vector3f _delta_angle_corr; Vector3f _delta_angle_corr;
Vector3f _delta_vel_corr; Vector3f _delta_vel_corr;
Vector3f _vel_corr; Vector3f _vel_corr;
imuSample _imu_down_sampled;
Quaternion _q_down_sampled;
// variables used for the GPS quality checks // variables used for the GPS quality checks
float _gpsDriftVelN = 0.0f; // GPS north position derivative (m/s) float _gpsDriftVelN = 0.0f; // GPS north position derivative (m/s)
EKF/estimator_base.h
-2
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@@ -177,8 +177,6 @@ protected:
uint64_t _imu_time_last; uint64_t _imu_time_last;
imuSample _imu_sample_delayed; imuSample _imu_sample_delayed;
imuSample _imu_down_sampled;
Quaternion _q_down_sampled;
magSample _mag_sample_delayed; magSample _mag_sample_delayed;
baroSample _baro_sample_delayed; baroSample _baro_sample_delayed;