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EKF: Enable control mode transitions to be detected

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Save the previous value of the filter control modes
This commit is contained in:
Paul Riseborough
2016-02-16 11:08:30 +11:00
parent 402206a305
commit d9bf4e9870
2 changed files with 6 additions and 0 deletions
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EKF/ekf.h
+4
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@@ -85,8 +85,12 @@ public:
bool collect_gps(uint64_t time_usec, struct gps_message *gps);
bool collect_imu(imuSample &imu);
// this is the current status of the filter control modes
filter_control_status_u _control_status = {};
// this is the previous status of the filter control modes - used to detect mode transitions
filter_control_status_u _control_status_prev = {};
// 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);