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added getter function for wind states

This commit is contained in:
Youssef Demitri 2016-07-12 11:40:41 +02:00 committed by Julian Oes
parent 73b8ac954d
commit 168d9add76
3 changed files with 11 additions and 0 deletions
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6
EKF/airspeed_fusion.cpp
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@ -202,3 +202,9 @@ void Ekf::fuseAirspeed()
} }
} }
} }
void Ekf::get_wind_velocity(float *wind)
{
wind[0] = _state.wind_vel(0);
wind[1] = _state.wind_vel(1);
}

3
EKF/ekf.h
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@ -97,6 +97,9 @@ public:
// get the state vector at the delayed time horizon // get the state vector at the delayed time horizon
void get_state_delayed(float *state); void get_state_delayed(float *state);
// get the wind velocity in m/s
void get_wind_velocity(float *wind);
// get the diagonal elements of the covariance matrix // get the diagonal elements of the covariance matrix
void get_covariances(float *covariances); void get_covariances(float *covariances);

2
EKF/estimator_interface.h
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@ -84,6 +84,8 @@ public:
virtual void get_state_delayed(float *state) = 0; virtual void get_state_delayed(float *state) = 0;
virtual void get_wind_velocity(float *wind) = 0;
virtual void get_covariances(float *covariances) = 0; virtual void get_covariances(float *covariances) = 0;
// get the ekf WGS-84 origin position and height and the system time it was last set // get the ekf WGS-84 origin position and height and the system time it was last set