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 | 12 |
1 files changed, 10 insertions, 2 deletions
diff --git a/src/modules/ekf_att_pos_estimator/estimator_22states.h b/src/modules/ekf_att_pos_estimator/estimator_22states.h index 19ef52145..8e820bfd9 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_22states.h +++ b/src/modules/ekf_att_pos_estimator/estimator_22states.h @@ -212,7 +212,6 @@ public: bool inhibitGndState; // true when the terrain ground height offset state and covariances are to remain constant bool inhibitScaleState; // true when the focal length scale factor state and covariances are to remain constant - bool onGround; ///< boolean true when the flight vehicle is on the ground (not flying) bool staticMode; ///< boolean true if no position feedback is fused bool useGPS; // boolean true if GPS data is being used bool useAirspeed; ///< boolean true if airspeed data is being used @@ -319,7 +318,11 @@ public: static inline float sq(float valIn) {return valIn * valIn;} - void OnGroundCheck(); + /** + * @brief + * Tell the EKF if the vehicle has landed + **/ + void setOnGround(const bool isLanded); void CovarianceInit(); @@ -396,6 +399,11 @@ protected: void AttitudeInit(float ax, float ay, float az, float mx, float my, float mz, float declination, float *initQuat); + void ResetStoredStates(); + +private: + bool _onGround; ///< boolean true when the flight vehicle is on the ground (not flying) + }; uint32_t millis(); |