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Clean get*innov* interface
This commit is contained in:
kamilritz
committed by
Paul Riseborough
Paul Riseborough
parent
86b9079bdc
commit
d5dc6bb8ea
+66
-37
@@ -71,36 +71,80 @@ public:
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virtual void getGpsVelPosInnov(float hvel[2], float &vvel, float hpos[2], float &vpos) = 0;
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// gets the GPS innovation variances of velocity and position measurements
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virtual void getGpsVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &vpos) = 0;
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// gets the GPS innovation test ratios of velocity and position measurements
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virtual void getGpsVelPosInnovRatio(float &hvel, float &vvel, float &hpos, float &vpos) = 0;
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// gets the external vision innovations of velocity and position measurements
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virtual void getEvVelPosInnov(float hvel[2], float &vvel, float hpos[2], float &vpos) = 0;
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// gets the external vision innovation variances of velocity and position measurements
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virtual void getEvVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &vpos) = 0;
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// gets the external vision innovation test ratios of velocity and position measurements
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virtual void getEvVelPosInnovRatio(float &hvel, float &vvel, float &hpos, float &vpos) = 0;
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// gets the innovation of airspeed measurement
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virtual void get_airspeed_innov(float *airspeed_innov) = 0;
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// gets the innovations for of the horizontal auxiliary velocity measurement
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virtual void getAuxVelInnov(float aux_vel_innov[2]) = 0;
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// gets the innovation variances for of the horizontal auxiliary velocity measurement
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virtual void getAuxVelInnovVar(float aux_vel_innov[2]) = 0;
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// gets the innovation test ratios of the horizontal auxiliary velocity measurement
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virtual void getAuxVelInnovRatio(float &aux_vel_innov_ratio) = 0;
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// gets the innovation of the flow measurement
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virtual void getFlowInnov(float flow_innov[2]) = 0;
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// gets the innovation variance of the flow measurement
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virtual void getFlowInnovVar(float flow_innov_var[2]) = 0;
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// gets the innovation test ratios of the flow measurement
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virtual void getFlowInnovRatio(float &flow_innov_ratio) = 0;
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// gets the innovations of the heading measurement
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virtual void get_heading_innov(float *heading_innov) = 0;
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// gets the innovation variances of the earth magnetic field measurements
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virtual void get_mag_innov_var(float mag_innov_var[3]) = 0;
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// gets the innovation variance of the airspeed measurement
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virtual void get_airspeed_innov_var(float *get_airspeed_innov_var) = 0;
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// gets the innovation variance of the synthetic sideslip measurement
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virtual void get_beta_innov_var(float *get_beta_innov_var) = 0;
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virtual void getHeadingInnov(float &heading_innov) = 0;
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// gets the innovation variance of the heading measurement
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virtual void get_heading_innov_var(float *heading_innov_var) = 0;
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virtual void getHeadingInnovVar(float &heading_innov_var) = 0;
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// gets the innovation test ratios of the heading measurement
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virtual void getHeadingInnovRatio(float &heading_innov_ratio) = 0;
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// gets the innovations of the earth magnetic field measurements
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virtual void getMagInnov(float mag_innov[3]) = 0;
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// gets the innovation variances of the earth magnetic field measurements
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virtual void getMagInnovVar(float mag_innov_var[3]) = 0;
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// gets the innovation test ratios of the earth magnetic field measurements
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virtual void getMagInnovRatio(float &mag_innov_ratio) = 0;
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// gets the innovation of the drag specific force measurement
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virtual void getDragInnov(float drag_innov[2]) = 0;
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// gets the innovation variance of the drag specific force measurement
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virtual void getDragInnovVar(float drag_innov_var[2]) = 0;
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// gets the innovation test ratios of the drag specific force measurement
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virtual void getDragInnovRatio(float drag_innov_ratio[2]) = 0;
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// gets the innovation of airspeed measurement
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virtual void getAirspeedInnov(float &airspeed_innov) = 0;
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// gets the innovation variance of the airspeed measurement
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virtual void getAirspeedInnovVar(float &get_airspeed_innov_var) = 0;
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// gets the innovation test ratios of the airspeed measurement
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virtual void getAirspeedInnovRatio(float &airspeed_innov_ratio) = 0;
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// gets the innovation of the synthetic sideslip measurement
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virtual void getBetaInnov(float &beta_innov) = 0;
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// gets the innovation variance of the synthetic sideslip measurement
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virtual void getBetaInnovVar(float &get_beta_innov_var) = 0;
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// gets the innovation test ratios of the synthetic sideslip measurement
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virtual void getBetaInnovRatio(float &beta_innov_ratio) = 0;
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// gets the innovation of the HAGL measurement
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virtual void getHaglInnov(float &hagl_innov) = 0;
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// gets the innovation variance of the HAGL measurement
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virtual void getHaglInnovVar(float &hagl_innov_var) = 0;
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// gets the innovation test ratios of the HAGL measurement
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virtual void getHaglInnovRatio(float &hagl_innov_ratio) = 0;
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virtual void get_state_delayed(float *state) = 0;
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@@ -116,24 +160,6 @@ public:
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// gets the variances for the NED position states
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virtual void get_pos_var(Vector3f &pos_var) = 0;
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// gets the innovation variance of the flow measurement
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virtual void get_flow_innov_var(float flow_innov_var[2]) = 0;
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// gets the innovation of the flow measurement
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virtual void get_flow_innov(float flow_innov[2]) = 0;
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// gets the innovation variance of the drag specific force measurement
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virtual void get_drag_innov_var(float drag_innov_var[2]) = 0;
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// gets the innovation of the drag specific force measurement
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virtual void get_drag_innov(float drag_innov[2]) = 0;
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virtual void getHaglInnovVar(float *hagl_innov_var) = 0;
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virtual void getHaglInnov(float *hagl_innov) = 0;
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//[[deprecated("Replaced by getHaglInnovVar")]]
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void get_hagl_innov_var(float *hagl_innov_var) { getHaglInnovVar(hagl_innov_var); }
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//[[deprecated("Replaced by getHaglInnov")]]
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void get_hagl_innov(float *hagl_innov) { getHaglInnov(hagl_innov); }
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// return an array containing the output predictor angular, velocity and position tracking
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// error magnitudes (rad), (m/s), (m)
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@@ -385,7 +411,7 @@ public:
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// Innovation Test Ratios - these are the ratio of the innovation to the acceptance threshold.
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// A value > 1 indicates that the sensor measurement has exceeded the maximum acceptable level and has been rejected by the EKF
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// Where a measurement type is a vector quantity, eg magnetometer, GPS position, etc, the maximum value is returned.
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virtual void get_innovation_test_status(uint16_t *status, float *mag, float *vel, float *pos, float *hgt, float *tas, float *hagl, float *beta) = 0;
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virtual void get_innovation_test_status(uint16_t &status, float &mag, float &gps_vel, float &gps_pos, float &ev_vel, float &ev_pos, float &hgt, float &tas, float &hagl, float &beta) = 0;
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// return a bitmask integer that describes which state estimates can be used for flight control
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virtual void get_ekf_soln_status(uint16_t *status) = 0;
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@@ -484,12 +510,15 @@ protected:
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float _gps_yaw_offset{0.0f}; // Yaw offset angle for dual GPS antennas used for yaw estimation (radians).
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// innovation consistency check monitoring ratios
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float _yaw_test_ratio{0.0f}; // yaw innovation consistency check ratio
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float _mag_test_ratio[3] {}; // magnetometer XYZ innovation consistency check ratios
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float _yaw_test_ratio{}; // yaw innovation consistency check ratio
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float _mag_test_ratio[3] {}; // magnetometer XYZ innovation consistency check ratios
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float _gps_vel_pos_test_ratio[4] {}; // GPS velocity and position innovation consistency check ratios
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float _ev_vel_pos_test_ratio[4] {}; // EV velocity and position innovation consistency check ratios
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float _aux_vel_test_ratio{}; // Auxiliray horizontal velocity innovation consistency check ratio
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float _beta_test_ratio{0.0f}; // sideslip innovation consistency check ratio
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float _optflow_test_ratio{}; // Optical flow innovation consistency check ratio
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float _tas_test_ratio{}; // tas innovation consistency check ratio
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float _hagl_test_ratio{}; // height above terrain measurement innovation consistency check ratio
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float _beta_test_ratio{}; // sideslip innovation consistency check ratio
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float _drag_test_ratio[2] {}; // drag innovation consistency check ratio
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innovation_fault_status_u _innov_check_fail_status{};
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