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If the user selects GPS yaw fusion but that there is no GPS yaw data in the GPS message or if the fusion is rejected for some time, the GPS yaw data is declared faulty and the fusion is stopped to allow an other source of yaw aiding to start.
117 lines
3.7 KiB
C++
117 lines
3.7 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2019 ECL Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* Wrapper class for Ekf object to set behavior or check status
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* @author Kamil Ritz <ka.ritz@hotmail.com>
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*/
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#pragma once
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#include <memory>
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#include "EKF/ekf.h"
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#include "EKF/estimator_interface.h"
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class EkfWrapper
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{
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public:
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EkfWrapper(std::shared_ptr<Ekf> ekf);
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~EkfWrapper();
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void setBaroHeight();
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bool isIntendingBaroHeightFusion() const;
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void setGpsHeight();
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bool isIntendingGpsHeightFusion() const;
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void setRangeHeight();
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bool isIntendingRangeHeightFusion() const;
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void setVisionHeight();
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bool isIntendingVisionHeightFusion() const;
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void enableGpsFusion();
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void disableGpsFusion();
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bool isIntendingGpsFusion() const;
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void enableGpsHeadingFusion();
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void disableGpsHeadingFusion();
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bool isIntendingGpsHeadingFusion() const;
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void enableFlowFusion();
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void disableFlowFusion();
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bool isIntendingFlowFusion() const;
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void enableExternalVisionPositionFusion();
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void disableExternalVisionPositionFusion();
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bool isIntendingExternalVisionPositionFusion() const;
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void enableExternalVisionVelocityFusion();
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void disableExternalVisionVelocityFusion();
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bool isIntendingExternalVisionVelocityFusion() const;
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void enableExternalVisionHeadingFusion();
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void disableExternalVisionHeadingFusion();
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bool isIntendingExternalVisionHeadingFusion() const;
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bool isIntendingMagHeadingFusion() const;
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bool isIntendingMag3DFusion() const;
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void enableExternalVisionAlignment();
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void disableExternalVisionAlignment();
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bool isWindVelocityEstimated() const;
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void enableTerrainRngFusion();
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void disableTerrainRngFusion();
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bool isIntendingTerrainRngFusion() const;
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void enableTerrainFlowFusion();
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void disableTerrainFlowFusion();
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bool isIntendingTerrainFlowFusion() const;
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Eulerf getEulerAngles() const;
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float getYawAngle() const;
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matrix::Vector<float, 4> getQuaternionVariance() const;
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int getQuaternionResetCounter() const;
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matrix::Vector3f getDeltaVelBiasVariance() const;
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private:
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std::shared_ptr<Ekf> _ekf;
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// Pointer to Ekf internal param struct
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parameters* _ekf_params;
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};
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