diff options
Diffstat (limited to 'src/modules/fw_att_pos_estimator/estimator.h')
| -rw-r--r-- | src/modules/fw_att_pos_estimator/estimator.h | 14 |
1 files changed, 12 insertions, 2 deletions
diff --git a/src/modules/fw_att_pos_estimator/estimator.h b/src/modules/fw_att_pos_estimator/estimator.h index 55e6eb12e..c5a5e9d8d 100644 --- a/src/modules/fw_att_pos_estimator/estimator.h +++ b/src/modules/fw_att_pos_estimator/estimator.h @@ -171,8 +171,18 @@ void quatNorm(float (&quatOut)[4], const float quatIn[4]); // store staes along with system time stamp in msces void StoreStates(uint64_t timestamp_ms); -// recall stste vector stored at closest time to the one specified by msec -void RecallStates(float statesForFusion[n_states], uint64_t msec); +/** + * Recall the state vector. + * + * Recalls the vector stored at closest time to the one specified by msec + * + * @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 + * time-wise where valid states were updated and invalid remained at the old + * value. + */ +int RecallStates(float statesForFusion[n_states], uint64_t msec); void ResetStoredStates(); |