fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-11 23:47:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

EKF: publish the quaternion reset event

Browse Source
This commit is contained in:
Paul Riseborough
2016-05-23 21:07:35 +10:00
parent 81ca167da8
commit e371a303a9
2 changed files with 10 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/ekf.h
+7
View File
@@ -139,6 +139,13 @@ public:
// return the amount the local horizontal velocity changed in the last reset and the time of the reset
void get_velNE_reset(Vector2f *delta, uint64_t *time_us) {*delta = _state_reset_status.velNE_change; *time_us = _state_reset_status.velNE_time_us;}
// return the amount the quaternion has changed in the last reset and the time of the reset
void get_quat_reset(Quaternion *delta, uint64_t *time_us)
{
*delta = _state_reset_status.quat_change;
*time_us = _state_reset_status.quat_time_us;
}
private:
static const uint8_t _k_num_states = 24;
EKF/estimator_interface.h
+3
View File
@@ -229,6 +229,9 @@ public:
// return the amount the local horizontal velocity changed in the last reset and the time of the reset
virtual void get_velNE_reset(Vector2f *delta, uint64_t *time_us) = 0;
// return the amount the quaternion has changed in the last reset and the time of the reset
virtual void get_quat_reset(Quaternion *delta, uint64_t *time_us) = 0;
protected:
parameters _params; // filter parameters