ardupilot/libraries/AC_PrecLand/PosVelEKF.h

19 lines
443 B
C
Raw Normal View History

#pragma once
class PosVelEKF {
public:
void init(float pos, float posVar, float vel, float velVar);
void predict(float dt, float dVel, float dVelNoise);
void fusePos(float pos, float posVar);
void fuseVel(float vel, float velVar);
float getPos() const { return _state[0]; }
float getVel() const { return _state[1]; }
float getPosNIS(float pos, float posVar);
private:
float _state[2];
float _cov[3];
};