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EKF: enable separate monitoring of aux velocity innovations

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This commit is contained in:
Paul Riseborough
2017-11-21 11:18:09 +11:00
parent 2a57fd858d
commit b0ad8269a5
5 changed files with 38 additions and 15 deletions
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EKF/ekf_helper.cpp
+6
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@@ -756,6 +756,12 @@ void Ekf::get_vel_pos_innov(float vel_pos_innov[6])
memcpy(vel_pos_innov, _vel_pos_innov, sizeof(float) * 6);
}
// gets the innovations of the earth magnetic field measurements
void Ekf::get_aux_vel_innov(float aux_vel_innov[2])
{
memcpy(aux_vel_innov, _aux_vel_innov, sizeof(float) * 2);
}
// writes the innovations of the earth magnetic field measurements
void Ekf::get_mag_innov(float mag_innov[3])
{