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adopted ekf_helper.cpp

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This commit is contained in:
CarlOlsson
2016-11-05 12:19:01 +01:00
committed by Lorenz Meier
parent 8f6c75bb0b
commit c8e3c24150
1 changed files with 12 additions and 0 deletions
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EKF/ekf_helper.cpp
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@@ -580,6 +580,12 @@ void Ekf::get_airspeed_innov(float *airspeed_innov)
memcpy(airspeed_innov,&_airspeed_innov, sizeof(float)); memcpy(airspeed_innov,&_airspeed_innov, sizeof(float));
} }
// gets the innovations of the synthetic sideslip measurements
void Ekf::get_beta_innov(float *beta_innov)
{
memcpy(beta_innov,&_beta_innov, sizeof(float));
}
// gets the innovations of the heading measurement // gets the innovations of the heading measurement
void Ekf::get_heading_innov(float *heading_innov) void Ekf::get_heading_innov(float *heading_innov)
{ {
@@ -605,6 +611,12 @@ void Ekf::get_airspeed_innov_var(float *airspeed_innov_var)
memcpy(airspeed_innov_var, &_airspeed_innov_var, sizeof(float)); memcpy(airspeed_innov_var, &_airspeed_innov_var, sizeof(float));
} }
// gets the innovation variance of the synthetic sideslip measurement
void Ekf::get_beta_innov_var(float *beta_innov_var)
{
memcpy(beta_innov_var, &_beta_innov_var, sizeof(float));
}
// gets the innovation variance of the heading measurement // gets the innovation variance of the heading measurement
void Ekf::get_heading_innov_var(float *heading_innov_var) void Ekf::get_heading_innov_var(float *heading_innov_var)
{ {