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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-18 21:23:59 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-18 21:23:59 +0200 |
| commit | cfcb76f627d164b3244e9b81b2fe2fe2e54ee045 (patch) | |
| tree | 32c0910fdd95f85b65b8b0626dea57a1aa614c85 /src/modules/ekf_att_pos_estimator/estimator_23states.h | |
| parent | 1596de25d7271fb2d44731d39bf6aa639b64dfee (diff) | |
| download | px4-firmware-cfcb76f627d164b3244e9b81b2fe2fe2e54ee045.tar.gz px4-firmware-cfcb76f627d164b3244e9b81b2fe2fe2e54ee045.tar.bz2 px4-firmware-cfcb76f627d164b3244e9b81b2fe2fe2e54ee045.zip | |
Add long-term stable wind estimate
Diffstat (limited to 'src/modules/ekf_att_pos_estimator/estimator_23states.h')
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/estimator_23states.h | 3 |
1 files changed, 3 insertions, 0 deletions
diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.h b/src/modules/ekf_att_pos_estimator/estimator_23states.h index 12cbc53b8..6349b03f0 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_23states.h +++ b/src/modules/ekf_att_pos_estimator/estimator_23states.h @@ -149,6 +149,9 @@ public: float dtVelPosFilt; // average time between position / velocity fusion steps float dtHgtFilt; // average time between height measurement updates float dtGpsFilt; // average time between gps measurement updates + float windSpdFiltNorth; // average wind speed north component + float windSpdFiltEast; // average wind speed east component + float windSpdFiltAltitude; // the last altitude used to filter wind speed uint8_t fusionModeGPS; // 0 = GPS outputs 3D velocity, 1 = GPS outputs 2D velocity, 2 = GPS outputs no velocity float innovVelPos[6]; // innovation output float varInnovVelPos[6]; // innovation variance output |