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adopted ekf_helper.cpp

This commit is contained in:
CarlOlsson 2016-03-11 12:54:33 +01:00 committed by Roman Bapst
parent 6bb2f7638c
commit f8878d41dc
1 changed files with 12 additions and 0 deletions
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12
EKF/ekf_helper.cpp
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@ -267,6 +267,12 @@ void Ekf::get_mag_innov(float mag_innov[3])
memcpy(mag_innov, _mag_innov, 3 * sizeof(float));
}
// gets the innovations of the airspeed measnurement
void Ekf::get_airspeed_innov(float *airspeed_innov)
{
memcpy(airspeed_innov,&_airspeed_innov, sizeof(float));
}
// gets the innovations of the heading measurement
void Ekf::get_heading_innov(float *heading_innov)
{
@ -286,6 +292,12 @@ void Ekf::get_mag_innov_var(float mag_innov_var[3])
memcpy(mag_innov_var, _mag_innov_var, sizeof(float) * 3);
}
// gest the innovation variance of the airspeed measurement
void Ekf::get_airspeed_innov_var(float *airspeed_innov_var)
{
memcpy(airspeed_innov_var, &_airspeed_innov_var, sizeof(float));
}
// gets the innovation variance of the heading measurement
void Ekf::get_heading_innov_var(float *heading_innov_var)
{