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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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test/sensor_simulator/range_finder.cpp
+7 -1
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@@ -17,7 +17,7 @@ void RangeFinder::send(uint64_t time)
{
_range_sample.time_us = time;
_ekf->setRangeData(_range_sample);
_ekf->set_rangefinder_limits(0.2f, 20.f); // This usually comes from the driver
_ekf->set_rangefinder_limits(_min_distance, _max_distance);
}
void RangeFinder::setData(float range_data_meters, int8_t range_quality)
@@ -26,5 +26,11 @@ void RangeFinder::setData(float range_data_meters, int8_t range_quality)
_range_sample.quality = range_quality;
}
void RangeFinder::setLimits(float min_distance_m, float max_distance_m)
{
_min_distance = min_distance_m;
_max_distance = max_distance_m;
}
} // namespace sensor
} // namespace sensor_simulator