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split into get_terrain_valid and get_terrain_vert_pos

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This commit is contained in:
ChristophTobler 2017-07-17 16:42:42 +02:00
parent c42f820072
commit eae0522dc2
4 changed files with 19 additions and 13 deletions
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8
EKF/ekf.h
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@ -154,9 +154,11 @@ public:
// return true if the EKF is dead reckoning the position using inertial data only
bool inertial_dead_reckoning();
// return true if the etimate is valid
// return the estimated terrain vertical position relative to the NED origin
bool get_terrain_vert_pos(float *ret);
// return true if the terrain estimate is valid
bool get_terrain_valid();
// get the estimated terrain vertical position relative to the NED origin
void get_terrain_vert_pos(float *ret);
// get the accerometer bias in m/s/s
void get_accel_bias(float bias[3]);

3
EKF/ekf_helper.cpp
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@ -1040,8 +1040,7 @@ void Ekf::get_ekf_soln_status(uint16_t *status)
soln_status.flags.pos_horiz_rel = (_control_status.flags.gps || _control_status.flags.ev_pos || _control_status.flags.opt_flow) && (_fault_status.value == 0);
soln_status.flags.pos_horiz_abs = (_control_status.flags.gps || _control_status.flags.ev_pos) && (_fault_status.value == 0);
soln_status.flags.pos_vert_abs = soln_status.flags.velocity_vert;
float dummy_var;
soln_status.flags.pos_vert_agl = get_terrain_vert_pos(&dummy_var);
soln_status.flags.pos_vert_agl = get_terrain_valid();
soln_status.flags.const_pos_mode = !soln_status.flags.velocity_horiz;
soln_status.flags.pred_pos_horiz_rel = soln_status.flags.pos_horiz_rel;
soln_status.flags.pred_pos_horiz_abs = soln_status.flags.pos_vert_abs;

8
EKF/estimator_interface.h
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@ -199,9 +199,11 @@ public:
// return true if the EKF is dead reckoning the position using inertial data only
virtual bool inertial_dead_reckoning() = 0;
// return true if the estimate is valid
// return the estimated terrain vertical position relative to the NED origin
virtual bool get_terrain_vert_pos(float *ret) = 0;
// return true if the terrain estimate is valid
virtual bool get_terrain_valid() = 0;
// get the estimated terrain vertical position relative to the NED origin
virtual void get_terrain_vert_pos(float *ret) = 0;
// return true if the local position estimate is valid
bool local_position_is_valid();

13
EKF/terrain_estimator.cpp
View File

@ -150,12 +150,9 @@ void Ekf::fuseHagl()
}
}
// return true if the estimate is fresh
// return the estimated vertical position of the terrain relative to the NED origin
bool Ekf::get_terrain_vert_pos(float *ret)
// return true if the terrain estimate is valid
bool Ekf::get_terrain_valid()
{
memcpy(ret, &_terrain_vpos, sizeof(float));
if (_terrain_initialised && _range_data_continuous && !_innov_check_fail_status.flags.reject_hagl) {
return true;
@ -164,6 +161,12 @@ bool Ekf::get_terrain_vert_pos(float *ret)
}
}
// get the estimated vertical position of the terrain relative to the NED origin
void Ekf::get_terrain_vert_pos(float *ret)
{
memcpy(ret, &_terrain_vpos, sizeof(float));
}
void Ekf::get_hagl_innov(float *hagl_innov)
{
memcpy(hagl_innov, &_hagl_innov, sizeof(_hagl_innov));