diff options
Diffstat (limited to 'src')
-rw-r--r-- | src/modules/fw_att_pos_estimator/estimator.cpp | 11 | ||||
-rw-r--r-- | src/modules/fw_att_pos_estimator/estimator.h | 4 | ||||
-rw-r--r-- | src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp | 4 |
3 files changed, 17 insertions, 2 deletions
diff --git a/src/modules/fw_att_pos_estimator/estimator.cpp b/src/modules/fw_att_pos_estimator/estimator.cpp index 3ce1ce56e..7ab06e85d 100644 --- a/src/modules/fw_att_pos_estimator/estimator.cpp +++ b/src/modules/fw_att_pos_estimator/estimator.cpp @@ -106,7 +106,16 @@ void swap_var(float &d1, float &d2) d2 = tmp; } -void AttPosEKF::UpdateStrapdownEquationsNED() +AttPosEKF::AttPosEKF() +{ + +} + +AttPosEKF::~AttPosEKF() +{ +} + +void AttPosEKF::UpdateStrapdownEquationsNED() { Vector3f delVelNav; float q00; diff --git a/src/modules/fw_att_pos_estimator/estimator.h b/src/modules/fw_att_pos_estimator/estimator.h index 821392399..7edb3c714 100644 --- a/src/modules/fw_att_pos_estimator/estimator.h +++ b/src/modules/fw_att_pos_estimator/estimator.h @@ -78,6 +78,10 @@ struct ekf_status_report { class AttPosEKF { public: + + AttPosEKF(); + ~AttPosEKF(); + // Global variables float KH[n_states][n_states]; // intermediate result used for covariance updates float KHP[n_states][n_states]; // intermediate result used for covariance updates diff --git a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp index 20c5d3719..840cd585e 100644 --- a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp +++ b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp @@ -292,7 +292,7 @@ FixedwingEstimator::FixedwingEstimator() : _initialized(false), _gps_initialized(false), _mavlink_fd(-1), - _ekf(new AttPosEKF()) + _ekf(nullptr) { _mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); @@ -396,6 +396,8 @@ void FixedwingEstimator::task_main() { + _ekf = new AttPosEKF(); + if (!_ekf) { errx(1, "failed allocating EKF filter - out of RAM!"); } |