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ekf2: split yaw estimator state getter into several functions

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bresch
2022-01-19 09:05:41 -05:00
committed by Daniel Agar
parent 476c1e5c09
commit ea80c5027e
3 changed files with 6 additions and 17 deletions
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src/modules/ekf2/EKF/EKFGSF_yaw.cpp
-11
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@@ -533,17 +533,6 @@ Matrix3f EKFGSF_yaw::ahrsPredictRotMat(const Matrix3f &R, const Vector3f &g)
return ret;
}
bool EKFGSF_yaw::getYawData(float *yaw, float *yaw_variance) const
{
if (_ekf_gsf_vel_fuse_started) {
*yaw = _gsf_yaw;
*yaw_variance = _gsf_yaw_variance;
return true;
}
return false;
}
void EKFGSF_yaw::setVelocity(const Vector2f &velocity, float accuracy)
{
_vel_NE = velocity;