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EKF: Calculate and publish horizontal and vertical position accuracy

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This calculation takes into account the uncertainty of the origin.
Dead reckoning status is also published
This commit is contained in:
Paul Riseborough
2016-02-25 10:38:07 +11:00
parent a30830a7a9
commit cd0cac066a
4 changed files with 26 additions and 0 deletions
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EKF/ekf.h
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@@ -95,6 +95,9 @@ public:
// get the ekf WGS-84 origin position and height and the system time it was last set
void 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);
private:
static const uint8_t _k_num_states = 24;