diff options
Diffstat (limited to 'src/modules/fw_att_pos_estimator/estimator.h')
-rw-r--r-- | src/modules/fw_att_pos_estimator/estimator.h | 30 |
1 files changed, 15 insertions, 15 deletions
diff --git a/src/modules/fw_att_pos_estimator/estimator.h b/src/modules/fw_att_pos_estimator/estimator.h index 7edb3c714..e62f1a98a 100644 --- a/src/modules/fw_att_pos_estimator/estimator.h +++ b/src/modules/fw_att_pos_estimator/estimator.h @@ -108,7 +108,7 @@ public: Vector3f dVelIMU; Vector3f dAngIMU; float dtIMU; // time lapsed since the last IMU measurement or covariance update (sec) - uint8_t fusionModeGPS = 0; // 0 = GPS outputs 3D velocity, 1 = GPS outputs 2D velocity, 2 = GPS outputs no velocity + uint8_t fusionModeGPS; // 0 = GPS outputs 3D velocity, 1 = GPS outputs 2D velocity, 2 = GPS outputs no velocity float innovVelPos[6]; // innovation output float varInnovVelPos[6]; // innovation variance output @@ -127,8 +127,8 @@ public: float lonRef; // WGS-84 longitude of reference point (rad) float hgtRef; // WGS-84 height of reference point (m) Vector3f magBias; // states representing magnetometer bias vector in XYZ body axes - uint8_t covSkipCount = 0; // Number of state prediction frames (IMU daya updates to skip before doing the covariance prediction - float EAS2TAS = 1.0f; // ratio f true to equivalent airspeed + uint8_t covSkipCount; // Number of state prediction frames (IMU daya updates to skip before doing the covariance prediction + float EAS2TAS; // ratio f true to equivalent airspeed // GPS input data variables float gpsCourse; @@ -141,25 +141,25 @@ public: // Baro input float baroHgt; - bool statesInitialised = false; + bool statesInitialised; - bool fuseVelData = false; // this boolean causes the posNE and velNED obs to be fused - bool fusePosData = false; // this boolean causes the posNE and velNED obs to be fused - bool fuseHgtData = false; // this boolean causes the hgtMea obs to be fused - bool fuseMagData = false; // boolean true when magnetometer data is to be fused - bool fuseVtasData = false; // boolean true when airspeed data is to be fused + bool fuseVelData; // this boolean causes the posNE and velNED obs to be fused + bool fusePosData; // this boolean causes the posNE and velNED obs to be fused + bool fuseHgtData; // this boolean causes the hgtMea obs to be fused + bool fuseMagData; // boolean true when magnetometer data is to be fused + bool fuseVtasData; // boolean true when airspeed data is to be fused - bool onGround = true; ///< boolean true when the flight vehicle is on the ground (not flying) - bool staticMode = true; ///< boolean true if no position feedback is fused - bool useAirspeed = true; ///< boolean true if airspeed data is being used - bool useCompass = true; ///< boolean true if magnetometer data is being used + 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 useAirspeed; ///< boolean true if airspeed data is being used + bool useCompass; ///< boolean true if magnetometer data is being used struct ekf_status_report current_ekf_state; struct ekf_status_report last_ekf_error; - bool numericalProtection = true; + bool numericalProtection; - unsigned storeIndex = 0; + unsigned storeIndex; void UpdateStrapdownEquationsNED(); |