dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

added function to return accelerometer bias

This commit is contained in:
Roman Bapst 2016-04-11 14:12:24 +02:00
parent f32303de69
commit 60abf07bee
2 changed files with 3 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
EKF/ekf.h
View File

@ -121,6 +121,8 @@ public:
// return the estimated terrain vertical position relative to the NED origin
bool get_terrain_vert_pos(float *ret);
void get_accel_bias(float *bias) {*bias = _state.accel_z_bias;}
private:
static const uint8_t _k_num_states = 24;

5
EKF/estimator_interface.h
View File

@ -209,10 +209,7 @@ public:
*val = _mag_declination_to_save_deg;
}
void copy_accel_bias(float *bias)
{
*bias = _state[15];
}
virtual void get_accel_bias(float *bias) = 0;
protected: