diff options
Diffstat (limited to 'src/modules/ekf_att_pos_estimator/estimator_22states.h')
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/estimator_22states.h | 17 |
1 files changed, 7 insertions, 10 deletions
diff --git a/src/modules/ekf_att_pos_estimator/estimator_22states.h b/src/modules/ekf_att_pos_estimator/estimator_22states.h index c5517e38b..9b23f4df4 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_22states.h +++ b/src/modules/ekf_att_pos_estimator/estimator_22states.h @@ -288,7 +288,6 @@ public: * Recall the state vector. * * Recalls the vector stored at closest time to the one specified by msec - *FuseOptFlow * @return zero on success, integer indicating the number of invalid states on failure. * Does only copy valid states, if the statesForFusion vector was initialized * correctly by the caller, the result can be safely used, but is a mixture @@ -307,12 +306,6 @@ public: static void quat2eul(float (&eul)[3], const float (&quat)[4]); - static void calcvelNED(float (&velNED)[3], float gpsCourse, float gpsGndSpd, float gpsVelD); - - static void calcposNED(float (&posNED)[3], double lat, double lon, float hgt, double latRef, double lonRef, float hgtRef); - - static void calcLLH(float posNED[3], double &lat, double &lon, float &hgt, double latRef, double lonRef, float hgtRef); - //static void quat2Tnb(Mat3f &Tnb, const float (&quat)[4]); static inline float sq(float valIn) {return valIn * valIn;} @@ -362,8 +355,6 @@ public: */ void ResetVelocity(); - void ZeroVariables(); - void GetFilterState(struct ekf_status_report *state); void GetLastErrorState(struct ekf_status_report *last_error); @@ -381,6 +372,12 @@ public: * true if the vehicle moves like a Fixed Wing, false otherwise **/ void setIsFixedWing(const bool fixedWing); + + /** + * @brief + * Reset internal filter states and clear all variables to zero value + */ + void ZeroVariables(); protected: @@ -409,7 +406,7 @@ protected: void AttitudeInit(float ax, float ay, float az, float mx, float my, float mz, float declination, float *initQuat); void ResetStoredStates(); - + private: bool _isFixedWing; ///< True if the vehicle is a fixed-wing frame type bool _onGround; ///< boolean true when the flight vehicle is on the ground (not flying) |