mirror of https://github.com/ArduPilot/ardupilot
AP_AHRS: add getLastPosDownReset accessor
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6406e34016
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c615bac1cd
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@ -438,6 +438,12 @@ public:
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return 0;
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return 0;
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};
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};
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// return the amount of vertical position change due to the last reset in meters
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// returns the time of the last reset or 0 if no reset has ever occurred
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virtual uint32_t getLastPosDownReset(float &posDelta) const {
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return 0;
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};
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// Resets the baro so that it reads zero at the current height
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// Resets the baro so that it reads zero at the current height
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// Resets the EKF height to zero
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// Resets the EKF height to zero
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// Adjusts the EKf origin height so that the EKF height + origin height is the same as before
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// Adjusts the EKf origin height so that the EKF height + origin height is the same as before
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@ -1191,6 +1191,24 @@ uint32_t AP_AHRS_NavEKF::getLastVelNorthEastReset(Vector2f &vel) const
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return 0;
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return 0;
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}
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}
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// return the amount of vertical position change due to the last reset in meters
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// returns the time of the last reset or 0 if no reset has ever occurred
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uint32_t AP_AHRS_NavEKF::getLastPosDownReset(float &posDelta) const
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{
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switch (ekf_type()) {
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case 1:
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return 0;
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case 2:
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return EKF2.getLastPosDownReset(posDelta);
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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case EKF_TYPE_SITL:
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return 0;
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#endif
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}
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return 0;
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}
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// Resets the baro so that it reads zero at the current height
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// Resets the baro so that it reads zero at the current height
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// Resets the EKF height to zero
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// Resets the EKF height to zero
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// Adjusts the EKf origin height so that the EKF height + origin height is the same as before
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// Adjusts the EKf origin height so that the EKF height + origin height is the same as before
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@ -193,6 +193,10 @@ public:
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// returns the time of the last reset or 0 if no reset has ever occurred
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// returns the time of the last reset or 0 if no reset has ever occurred
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uint32_t getLastVelNorthEastReset(Vector2f &vel) const;
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uint32_t getLastVelNorthEastReset(Vector2f &vel) const;
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// return the amount of vertical position change due to the last reset in meters
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// returns the time of the last reset or 0 if no reset has ever occurred
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uint32_t getLastPosDownReset(float &posDelta) const;
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// Resets the baro so that it reads zero at the current height
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// Resets the baro so that it reads zero at the current height
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// Resets the EKF height to zero
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// Resets the EKF height to zero
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// Adjusts the EKf origin height so that the EKF height + origin height is the same as before
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// Adjusts the EKf origin height so that the EKF height + origin height is the same as before
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