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AP_NavEKF: Publish small EKF quaternion and gyro bias outputs

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Paul Riseborough 2015-01-31 19:26:35 +11:00 committed by Andrew Tridgell
parent 17445d03f0
commit 5f24603ceb
2 changed files with 17 additions and 0 deletions
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11
libraries/AP_NavEKF/AP_SmallEKF.cpp
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@ -894,5 +894,16 @@ void SmallEKF::getDebug(float &tilt, Vector3f &velocity, Vector3f &euler, Vector
gyroBias = state.delAngBias / dtIMU; gyroBias = state.delAngBias / dtIMU;
} }
// get gyro bias data
void SmallEKF::getGyroBias(Vector3f &gyroBias) const
{
gyroBias = state.delAngBias / dtIMU;
}
// get quaternion data
void SmallEKF::getQuat(Quaternion &quat) const
{
quat = state.quat;
}
#endif // HAL_CPU_CLASS #endif // HAL_CPU_CLASS

6
libraries/AP_NavEKF/AP_SmallEKF.h
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@ -86,6 +86,12 @@ public:
// get some debug information // get some debug information
void getDebug(float &tilt, Vector3f &velocity, Vector3f &euler, Vector3f &gyroBias) const; void getDebug(float &tilt, Vector3f &velocity, Vector3f &euler, Vector3f &gyroBias) const;
// get gyro bias data
void getGyroBias(Vector3f &gyroBias) const;
// get quaternion data
void getQuat(Quaternion &quat) const;
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
private: private: