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AP_AHRS: add the get_variances method found in AP_AHRS_NavEKF to AP_AHRS

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floaledm 2016-09-21 16:00:21 -05:00 committed by Tom Pittenger
parent 64a2fca812
commit 27e977289a
2 changed files with 9 additions and 1 deletions
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8
libraries/AP_AHRS/AP_AHRS.h
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@ -442,6 +442,14 @@ public:
return false;
}
// get_variances - provides the innovations normalised using the innovation variance where a value of 0
// indicates prefect consistency between the measurement and the EKF solution and a value of of 1 is the maximum
// inconsistency that will be accpeted by the filter
// boolean false is returned if variances are not available
virtual bool get_variances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar, Vector2f &offset) const {
return false;
}
// time that the AHRS has been up
virtual uint32_t uptime_ms(void) const = 0;

2
libraries/AP_AHRS/AP_AHRS_NavEKF.h
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@ -214,7 +214,7 @@ public:
// indicates prefect consistency between the measurement and the EKF solution and a value of of 1 is the maximum
// inconsistency that will be accpeted by the filter
// boolean false is returned if variances are not available
bool get_variances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar, Vector2f &offset) const;
bool get_variances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar, Vector2f &offset) const override;
// returns the expected NED magnetic field
bool get_mag_field_NED(Vector3f& ret) const;