diff options
Diffstat (limited to 'src/modules/ekf_att_pos_estimator/estimator_23states.h')
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/estimator_23states.h | 2 |
1 files changed, 2 insertions, 0 deletions
diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.h b/src/modules/ekf_att_pos_estimator/estimator_23states.h index 1bf1312b0..10a646025 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_23states.h +++ b/src/modules/ekf_att_pos_estimator/estimator_23states.h @@ -138,6 +138,7 @@ public: float varInnovVelPos[6]; // innovation variance output float velNED[3]; // North, East, Down velocity obs (m/s) + float accelGPSNED[3]; // Acceleration predicted by GPS in earth frame float posNE[2]; // North, East position obs (m) float hgtMea; // measured height (m) float baroHgtOffset; ///< the baro (weather) offset from normalized altitude @@ -185,6 +186,7 @@ public: bool useRangeFinder; ///< true when rangefinder is being used bool ekfDiverged; + uint64_t lastReset; struct ekf_status_report current_ekf_state; struct ekf_status_report last_ekf_error; |