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EKF: add accessor function for local position accuracy

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Paul Riseborough
2017-02-25 21:17:01 +01:00
committed by Lorenz Meier
parent b7d0b3c4d0
commit d6abf3f2e4
3 changed files with 31 additions and 0 deletions
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EKF/estimator_interface.h
+3
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@@ -132,6 +132,9 @@ public:
// get the 1-sigma horizontal and vertical position uncertainty of the ekf WGS-84 position
virtual void get_ekf_gpos_accuracy(float *ekf_eph, float *ekf_epv, bool *dead_reckoning) = 0;
// get the 1-sigma horizontal and vertical position uncertainty of the ekf local position
virtual void get_ekf_lpos_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; }