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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-03-18 18:28:54 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-03-18 18:28:54 +0100 |
| commit | bce67c6b036cddbe1542f910c6e605256283768f (patch) | |
| tree | 0fc9487ce26dc97aa8d9aee56e43cb1d6ee3fa4a /src/modules/fw_att_pos_estimator/estimator.h | |
| parent | 7cdb7291af52f2b60aa53607e7ec229fecf7497f (diff) | |
| download | px4-firmware-bce67c6b036cddbe1542f910c6e605256283768f.tar.gz px4-firmware-bce67c6b036cddbe1542f910c6e605256283768f.tar.bz2 px4-firmware-bce67c6b036cddbe1542f910c6e605256283768f.zip | |
Init / reinit improvements
Diffstat (limited to 'src/modules/fw_att_pos_estimator/estimator.h')
| -rw-r--r-- | src/modules/fw_att_pos_estimator/estimator.h | 8 |
1 files changed, 8 insertions, 0 deletions
diff --git a/src/modules/fw_att_pos_estimator/estimator.h b/src/modules/fw_att_pos_estimator/estimator.h index b8b218e39..256aff771 100644 --- a/src/modules/fw_att_pos_estimator/estimator.h +++ b/src/modules/fw_att_pos_estimator/estimator.h @@ -158,6 +158,8 @@ void StoreStates(uint64_t timestamp_ms); // recall stste vector stored at closest time to the one specified by msec void RecallStates(float statesForFusion[n_states], uint64_t msec); +void ResetStoredStates(); + void quat2Tbn(Mat3f &Tbn, const float (&quat)[4]); void calcEarthRateNED(Vector3f &omega, float latitude); @@ -186,5 +188,11 @@ void ConstrainStates(); void ForceSymmetry(); +void CheckAndBound(); + +void ResetPosition(); + +void ResetVelocity(); + uint32_t millis(); |