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EKF: publish the quaternion reset event

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Paul Riseborough
2016-06-01 17:13:00 +10:00
parent 81ca167da8
commit e371a303a9
2 changed files with 10 additions and 0 deletions
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EKF/estimator_interface.h
+3
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@@ -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