Added support for automatic mag declination setup

1 files changed, 4 insertions, 3 deletions

diff --git a/src/modules/ekf_att_pos_estimator/estimator.h b/src/modules/ekf_att_pos_estimator/estimator.h
index e118ae573..378107b69 100644
--- a/src/modules/ekf_att_pos_estimator/estimator.h
+++ b/src/modules/ekf_att_pos_estimator/estimator.h
@@ -208,6 +208,7 @@ public:
     float innovRng; ///< Range finder innovation
     float varInnovVtas; // innovation variance output
     float VtasMeas; // true airspeed measurement (m/s)
+    float magDeclination;       ///< magnetic declination
     double latRef; // WGS-84 latitude of reference point (rad)
     double lonRef; // WGS-84 longitude of reference point (rad)
     float hgtRef; // WGS-84 height of reference point (m)
@@ -309,7 +310,7 @@ void OnGroundCheck();
 
 void CovarianceInit();
 
-void InitialiseFilter(float (&initvelNED)[3], double referenceLat, double referenceLon, float referenceHgt);
+void InitialiseFilter(float (&initvelNED)[3], double referenceLat, double referenceLon, float referenceHgt, float declination);
 
 float ConstrainFloat(float val, float min, float max);
 
@@ -334,7 +335,7 @@ void GetLastErrorState(struct ekf_status_report *last_error);
 bool StatesNaN(struct ekf_status_report *err_report);
 void FillErrorReport(struct ekf_status_report *err);
 
-void InitializeDynamic(float (&initvelNED)[3]);
+void InitializeDynamic(float (&initvelNED)[3], float declination);
 
 protected:
 
@@ -342,7 +343,7 @@ bool FilterHealthy();
 
 void ResetHeight(void);
 
-void AttitudeInit(float ax, float ay, float az, float mx, float my, float mz, float *initQuat);
+void AttitudeInit(float ax, float ay, float az, float mx, float my, float mz, float declination, float *initQuat);
 
 };