From 12aeaafbd357dba43032aa1edae17cd0279fd1f5 Mon Sep 17 00:00:00 2001 From: CarlOlsson Date: Tue, 12 Jul 2016 18:48:42 +0200 Subject: [PATCH] adopted estimator_interface.h --- EKF/estimator_interface.h | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/EKF/estimator_interface.h b/EKF/estimator_interface.h index 9a21c38940..6265324250 100644 --- a/EKF/estimator_interface.h +++ b/EKF/estimator_interface.h @@ -67,6 +67,9 @@ public: // gets the innovation of airspeed measurement virtual void get_airspeed_innov(float *airspeed_innov) = 0; + // gets the innovation of the synthetic sideslip measurement + virtual void get_beta_innov(float *beta_innov) = 0; + // gets the innovations of the heading measurement virtual void get_heading_innov(float *heading_innov) = 0; @@ -80,6 +83,9 @@ public: // 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 synthetic sideslip measurement + virtual void get_beta_innov_var(float *get_beta_innov_var) = 0; + // gets the innovation variance of the heading measurement virtual void get_heading_innov_var(float *heading_innov_var) = 0; @@ -163,6 +169,9 @@ public: // set vehicle landed status data void set_in_air_status(bool in_air) {_control_status.flags.in_air = in_air;} + // set flag if synthetic sideslip measurement should be fused + void set_fuse_beta_flag(bool fuse_beta) {_control_status.flags.fuse_beta = fuse_beta;} + // return true if the global position estimate is valid virtual bool global_position_is_valid() = 0; @@ -305,6 +314,7 @@ protected: float _vel_pos_test_ratio[6]; // velocity and position innovation consistency check ratios float _tas_test_ratio; // tas innovation consistency check ratio float _terr_test_ratio; // height above terrain measurement innovation consistency check ratio + float _beta_test_ratio; // sideslip innovation consistency check ratio innovation_fault_status_u _innov_check_fail_status; // IMU vibration monitoring