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EKF: Improve naming of WGS-84 accuracy accessor function

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Paul Riseborough 2017-02-24 08:27:02 +11:00 committed by Lorenz Meier
parent d22599b440
commit b7d0b3c4d0
3 changed files with 3 additions and 3 deletions
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2
EKF/ekf.h
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@ -118,7 +118,7 @@ public:
bool get_ekf_origin(uint64_t *origin_time, map_projection_reference_s *origin_pos, float *origin_alt);
// get the 1-sigma horizontal and vertical position uncertainty of the ekf WGS-84 position
void get_ekf_accuracy(float *ekf_eph, float *ekf_epv, bool *dead_reckoning);
void get_ekf_gpos_accuracy(float *ekf_eph, float *ekf_epv, bool *dead_reckoning);
void get_vel_var(Vector3f &vel_var);

2
EKF/ekf_helper.cpp
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@ -722,7 +722,7 @@ void Ekf::get_imu_vibe_metrics(float vibe[3])
}
// get the 1-sigma horizontal and vertical position uncertainty of the ekf WGS-84 position
void Ekf::get_ekf_accuracy(float *ekf_eph, float *ekf_epv, bool *dead_reckoning)
void Ekf::get_ekf_gpos_accuracy(float *ekf_eph, float *ekf_epv, bool *dead_reckoning)
{
// report absolute accuracy taking into account the uncertainty in location of the origin
// If not aiding, return 0 for horizontal position estimate as no estimate is available

2
EKF/estimator_interface.h
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@ -130,7 +130,7 @@ public:
virtual bool get_ekf_origin(uint64_t *origin_time, map_projection_reference_s *origin_pos, float *origin_alt) = 0;
// get the 1-sigma horizontal and vertical position uncertainty of the ekf WGS-84 position
virtual void get_ekf_accuracy(float *ekf_eph, float *ekf_epv, bool *dead_reckoning) = 0;
virtual void get_ekf_gpos_accuracy(float *ekf_eph, float *ekf_epv, bool *dead_reckoning) = 0;
// ask estimator for sensor data collection decision and do any preprocessing if required, returns true if not defined
virtual bool collect_gps(uint64_t time_usec, struct gps_message *gps) { return true; }