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Refactor velocity reset (#788)

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* Refactor velocity reset

* Add unit tests for velocity resets

* Expand updates to vertical buffer to velocity resets outside of resetHeight

* Improve matrix library usage

* Improve naming of vertical output samples

* Fix update of output_vert_new during reset

* Improve naming of vertical output samples 2
This commit is contained in:
kritz
2020-04-08 16:39:15 +02:00
committed by GitHub
parent 47624a0f02
commit fa5a00d871
13 changed files with 259 additions and 78 deletions
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EKF/common.h
+2 -2
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@@ -81,8 +81,8 @@ struct outputSample {
};
struct outputVert {
float vel_d; ///< D velocity calculated using alternative algorithm (m/sec)
float vel_d_integ; ///< Integral of vel_d (m)
float vert_vel; ///< Vertical velocity calculated using alternative algorithm (m/sec)
float vert_vel_integ; ///< Integral of vertical velocity (m)
float dt; ///< delta time (sec)
uint64_t time_us; ///< timestamp of the measurement (uSec)
};