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EKF: publish position and velocity reset data

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Paul Riseborough
2016-06-01 17:13:00 +10:00
parent 733862f649
commit b2e432e211
2 changed files with 22 additions and 4 deletions
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EKF/ekf.h
+11 -2
View File
@@ -127,8 +127,17 @@ public:
// get GPS check status
void get_gps_check_status(uint16_t *_gps_check_fail_status);
// return the amount the local vertical position changed in the last height reset and the time of the reset
void get_vert_pos_reset(float *delta, uint64_t *time_us) {*delta = _state_reset_status.posD_change; *time_us = _state_reset_status.posD_time_us;}
// return the amount the local vertical position changed in the last reset and the time of the reset
void get_posD_reset(float *delta, uint64_t *time_us) {*delta = _state_reset_status.posD_change; *time_us = _state_reset_status.posD_time_us;}
// return the amount the local vertical velocity changed in the last reset and the time of the reset
void get_velD_reset(float *delta, uint64_t *time_us) {*delta = _state_reset_status.velD_change; *time_us = _state_reset_status.velD_time_us;}
// return the amount the local horizontal position changed in the last reset and the time of the reset
void get_posNE_reset(Vector2f *delta, uint64_t *time_us) {*delta = _state_reset_status.posNE_change; *time_us = _state_reset_status.posNE_time_us;}
// return the amount the local horizontal velocity changed in the last reset and the time of the reset
void get_velNE_reset(Vector2f *delta, uint64_t *time_us) {*delta = _state_reset_status.velNE_change; *time_us = _state_reset_status.velNE_time_us;}
private:
EKF/estimator_interface.h
+11 -2
View File
@@ -217,8 +217,17 @@ public:
// get GPS check status
virtual void get_gps_check_status(uint16_t *val) = 0;
// return the amount the local vertical position changed in the last height reset and the time of the reset
virtual void get_vert_pos_reset(float *delta, uint64_t *time_us) = 0;
// return the amount the local vertical position changed in the last reset and the time of the reset
virtual void get_posD_reset(float *delta, uint64_t *time_us) = 0;
// return the amount the local vertical velocity changed in the last reset and the time of the reset
virtual void get_velD_reset(float *delta, uint64_t *time_us) = 0;
// return the amount the local horizontal position changed in the last reset and the time of the reset
virtual void get_posNE_reset(Vector2f *delta, uint64_t *time_us) = 0;
// return the amount the local horizontal velocity changed in the last reset and the time of the reset
virtual void get_velNE_reset(Vector2f *delta, uint64_t *time_us) = 0;
protected: