mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 15:38:29 -04:00
AP_NavEKF: Enable external setting of yaw estimator bias states
This commit is contained in:
parent
709a42cb7f
commit
5ad5498b07
libraries/AP_NavEKF
@ -641,3 +641,10 @@ bool EKFGSF_yaw::getYawData(float &yaw, float &yawVariance)
|
||||
yawVariance = GSF.yaw_variance;
|
||||
return true;
|
||||
}
|
||||
|
||||
void EKFGSF_yaw::setGyroBias(Vector3f &gyroBias)
|
||||
{
|
||||
for (uint8_t mdl_idx = 0; mdl_idx < N_MODELS_EKFGSF; mdl_idx++) {
|
||||
AHRS[mdl_idx].gyro_bias = gyroBias;
|
||||
}
|
||||
}
|
@ -27,6 +27,9 @@ public:
|
||||
void fuseVelData(const Vector2f &vel, // NE velocity measurement (m/s)
|
||||
const float velAcc); // 1-sigma accuracy of velocity measurement (m/s)
|
||||
|
||||
// set the gyro bias in rad/sec
|
||||
void setGyroBias(Vector3f &gyroBias);
|
||||
|
||||
// get solution data for logging
|
||||
// return false if yaw estimation is inactive
|
||||
bool getLogData(float &yaw_composite, float &yaw_composite_variance, float yaw[N_MODELS_EKFGSF], float innov_VN[N_MODELS_EKFGSF], float innov_VE[N_MODELS_EKFGSF], float weight[N_MODELS_EKFGSF]);
|
||||
|
Loading…
Reference in New Issue
Block a user