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EKF: Add true airspeed accessor

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This commit is contained in:
Paul Riseborough 2017-08-07 09:19:48 +10:00
parent c230663b68
commit cc5db74d1b
3 changed files with 11 additions and 0 deletions
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6
EKF/airspeed_fusion.cpp
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@ -225,6 +225,12 @@ void Ekf::get_wind_velocity(float *wind)
wind[1] = _state.wind_vel(1);
}
void Ekf::get_true_airspeed(float *tas)
{
float tempvar = sqrtf(sq(_state.vel(0) - _state.wind_vel(0)) + sq(_state.vel(1) - _state.wind_vel(1)) + sq(_state.vel(2)));
memcpy(tas, &tempvar, sizeof(float));
}
/*
* Reset the wind states using the current airspeed measurement, ground relative nav velocity, yaw angle and assumption of zero sideslip
*/

3
EKF/ekf.h
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@ -112,6 +112,9 @@ public:
// get the wind velocity in m/s
void get_wind_velocity(float *wind);
// get the true airspeed in m/s
void get_true_airspeed(float *tas);
// get the diagonal elements of the covariance matrix
void get_covariances(float *covariances);

2
EKF/estimator_interface.h
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@ -93,6 +93,8 @@ public:
virtual void get_wind_velocity(float *wind) = 0;
virtual void get_true_airspeed(float *tas) = 0;
virtual void get_covariances(float *covariances) = 0;
// gets the variances for the NED velocity states