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AP_NavEKF: Split getAccelBias into getAccelZBias and getIMU1Weighting

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This commit is contained in:
Jonathan Challinger 2014-10-29 23:42:47 -07:00 committed by Andrew Tridgell
parent ac2e5f644c
commit 967986d5c6
2 changed files with 16 additions and 9 deletions
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18
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -2819,16 +2819,20 @@ void NavEKF::resetGyroBias(void)
}
// return weighting of first IMU in blending function and the individual Z-accel bias estimates in m/s^2
void NavEKF::getAccelBias(Vector3f &accelBias) const
// return weighting of first IMU in blending function
void NavEKF::getIMU1Weighting(float &ret) const
{
accelBias.x = IMU1_weighting;
ret = IMU1_weighting;
}
// return the individual Z-accel bias estimates in m/s^2
void NavEKF::getAccelZBias(float &zbias1, float &zbias2) const {
if (dtIMU == 0) {
accelBias.y = 0;
accelBias.z = 0;
zbias1 = 0;
zbias2 = 0;
} else {
accelBias.y = state.accel_zbias2 / dtIMU;
accelBias.z = state.accel_zbias1 / dtIMU;
zbias1 = state.accel_zbias1 / dtIMU;
zbias2 = state.accel_zbias2 / dtIMU;
}
}

7
libraries/AP_NavEKF/AP_NavEKF.h
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@ -108,8 +108,11 @@ public:
// reset body axis gyro bias estimates
void resetGyroBias(void);
// return weighting of first IMU in blending function and the individual Z-accel bias estimates in m/s^2
void getAccelBias(Vector3f &accelBias) const;
// return weighting of first IMU in blending function
void getIMU1Weighting(float &ret) const;
// return the individual Z-accel bias estimates in m/s^2
void getAccelZBias(float &zbias1, float &zbias2) const;
// return the NED wind speed estimates in m/s (positive is air moving in the direction of the axis)
void getWind(Vector3f &wind) const;