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adopted ekf_interface.h

This commit is contained in:
CarlOlsson 2016-03-11 12:57:14 +01:00 committed by Roman Bapst
parent d440c883b5
commit 81fc086b76
1 changed files with 7 additions and 1 deletions
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8
EKF/estimator_interface.h
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@ -63,6 +63,9 @@ public:
// gets the innovations of the earth magnetic field measurements // gets the innovations of the earth magnetic field measurements
virtual void get_mag_innov(float mag_innov[3]) = 0; virtual void get_mag_innov(float mag_innov[3]) = 0;
// gets the innovation of airspeed measurement
virtual void get_airspeed_innov(float *airspeed_innov) = 0;
// gets the innovations of the heading measurement // gets the innovations of the heading measurement
virtual void get_heading_innov(float *heading_innov) = 0; virtual void get_heading_innov(float *heading_innov) = 0;
@ -73,6 +76,9 @@ public:
// gets the innovation variances of the earth magnetic field measurements // gets the innovation variances of the earth magnetic field measurements
virtual void get_mag_innov_var(float mag_innov_var[3]) = 0; virtual void get_mag_innov_var(float mag_innov_var[3]) = 0;
// gets the innovation variance of the airspeed measurement
virtual void get_airspeed_innov_var(float *get_airspeed_innov_var) = 0;
// gets the innovation variance of the heading measurement // gets the innovation variance of the heading measurement
virtual void get_heading_innov_var(float *heading_innov_var) = 0; virtual void get_heading_innov_var(float *heading_innov_var) = 0;
@ -229,8 +235,8 @@ protected:
bool _mag_healthy; // computed by mag innovation test bool _mag_healthy; // computed by mag innovation test
float _yaw_test_ratio; // yaw innovation consistency check ratio float _yaw_test_ratio; // yaw innovation consistency check ratio
float _mag_test_ratio[3]; // magnetometer XYZ innovation consistency check ratios float _mag_test_ratio[3]; // magnetometer XYZ innovation consistency check ratios
float _vel_pos_test_ratio[6]; // velocity and position innovation consistency check ratios float _vel_pos_test_ratio[6]; // velocity and position innovation consistency check ratios
float _tas_test_ratio; // tas innovation consistency check ratio
// data buffer instances // data buffer instances
RingBuffer<imuSample> _imu_buffer; RingBuffer<imuSample> _imu_buffer;