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AP_NavEKF : Add sideslip constraint to allow plane flight without magnetometer

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Paul Riseborough 2014-03-06 20:43:24 +11:00 committed by priseborough
parent 52fabc822f
commit c8bd415b00
2 changed files with 174 additions and 1 deletions
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171
libraries/AP_NavEKF/AP_NavEKF.cpp
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4
libraries/AP_NavEKF/AP_NavEKF.h
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@ -178,6 +178,9 @@ private:
// fuse true airspeed measurements
void FuseAirspeed();
// fuse sideslip measurements
void FuseSideslip();
// zero specified range of rows in the state covariance matrix
void zeroRows(Matrix22 &covMat, uint8_t first, uint8_t last);
@ -456,6 +459,7 @@ private:
perf_counter_t _perf_FuseVelPosNED;
perf_counter_t _perf_FuseMagnetometer;
perf_counter_t _perf_FuseAirspeed;
perf_counter_t _perf_FuseSideslip;
#endif
// should we use the compass?