Numerical checks on covariances

1 files changed, 11 insertions, 0 deletions

diff --git a/src/modules/fw_att_pos_estimator/estimator.h b/src/modules/fw_att_pos_estimator/estimator.h
index 43bd69793..b8b218e39 100644
--- a/src/modules/fw_att_pos_estimator/estimator.h
+++ b/src/modules/fw_att_pos_estimator/estimator.h
@@ -121,10 +121,19 @@ extern uint8_t GPSstatus;
 extern float baroHgt;
 
 extern bool statesInitialised;
+extern bool numericalProtection;
 
 const float covTimeStepMax = 0.07f; // maximum time allowed between covariance predictions
 const float covDelAngMax = 0.02f; // maximum delta angle between covariance predictions
 
+extern bool staticMode;
+
+enum GPS_FIX {
+    GPS_FIX_NOFIX = 0,
+    GPS_FIX_2D = 2,
+    GPS_FIX_3D = 3
+};
+
 void  UpdateStrapdownEquationsNED();
 
 void CovariancePrediction(float dt);
@@ -175,5 +184,7 @@ void ConstrainVariances();
 
 void ConstrainStates();
 
+void ForceSymmetry();
+
 uint32_t millis();