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ekf2: refactor vertical acceleration check for multiple height sources

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bresch
2022-08-24 09:16:11 -04:00
committed by Daniel Agar
parent 8fd79688c0
commit f9188b2a14
7 changed files with 230 additions and 95 deletions
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src/modules/ekf2/EKF/estimator_interface.h
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@@ -181,6 +181,13 @@ public:
int getNumberOfActiveHorizontalAidingSources() const;
bool isOtherSourceOfVerticalPositionAidingThan(bool aiding_flag) const;
bool isVerticalPositionAidingActive() const;
int getNumberOfActiveVerticalPositionAidingSources() const;
bool isVerticalVelocityAidingActive() const;
int getNumberOfActiveVerticalVelocityAidingSources() const;
const matrix::Quatf &getQuaternion() const { return _output_new.quat_nominal; }
// get the velocity of the body frame origin in local NED earth frame