diff options
Diffstat (limited to 'apps/examples/kalman_demo/KalmanNav.hpp')
| -rw-r--r-- | apps/examples/kalman_demo/KalmanNav.hpp | 12 |
1 files changed, 7 insertions, 5 deletions
diff --git a/apps/examples/kalman_demo/KalmanNav.hpp b/apps/examples/kalman_demo/KalmanNav.hpp index da1a7ee10..7709ac697 100644 --- a/apps/examples/kalman_demo/KalmanNav.hpp +++ b/apps/examples/kalman_demo/KalmanNav.hpp @@ -93,23 +93,23 @@ public: * State prediction * Continuous, non-linear */ - void predictState(float dt); + int predictState(float dt); /** * State covariance prediction * Continuous, linear */ - void predictStateCovariance(float dt); + int predictStateCovariance(float dt); /** * Attitude correction */ - void correctAtt(); + int correctAtt(); /** * Position correction */ - void correctPos(); + int correctPos(); /** * Overloaded update parameters @@ -166,7 +166,9 @@ protected: control::BlockParam<float> _faultPos; /**< fault detection threshold for position */ control::BlockParam<float> _faultAtt; /**< fault detection threshold for attitude */ // status - bool _positionInitialized; /**< status, if position has been init. */ + bool _attitudeInitialized; + bool _positionInitialized; + uint16_t _attitudeInitCounter; // accessors int32_t getLatDegE7() { return int32_t(lat * 1.0e7 * M_RAD_TO_DEG); } void setLatDegE7(int32_t val) { lat = val / 1.0e7 / M_RAD_TO_DEG; } |