From ad978c642ff6f2be06fe8dd29693983e6e216779 Mon Sep 17 00:00:00 2001 From: Roman Date: Sat, 13 Feb 2016 08:50:51 +0100 Subject: [PATCH] estimator interface: added flag for in_air status of vehicle --- EKF/estimator_interface.h | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/EKF/estimator_interface.h b/EKF/estimator_interface.h index bfc7767eea..d15daedb97 100644 --- a/EKF/estimator_interface.h +++ b/EKF/estimator_interface.h @@ -128,6 +128,9 @@ public: // set vehicle arm status data void set_arm_status(bool data) { _vehicle_armed = data; } + // set vehicle landed status data + void set_in_air_status(bool in_air) {_in_air = in_air;} + bool position_is_valid(); @@ -183,6 +186,7 @@ protected: bool _imu_updated = false; // true if the ekf should update (completed downsampling process) bool _initialised = false; // true if ekf interface instance (data buffering) is initialised bool _vehicle_armed = false; // vehicle arm status used to turn off functionality used on the ground + bool _in_air = false; // we assume vehicle is in the air, set by the given landing detector bool _NED_origin_initialised = false; bool _gps_speed_valid = false;