Merge pull request #157 from PX4/pr-ekf2ResetInterface

Change state reset information interface
PX4 · Jun 8, 2016 · 928a7dd · 928a7dd
2 parents 2024252 + 670c6ca
commit 928a7dd
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Showing 2 changed files with 13 additions and 7 deletions.
diff --git a/EKF/ekf.h b/EKF/ekf.h
@@ -134,15 +134,21 @@ class Ekf : public EstimatorInterface
 	void get_velD_reset(float *delta, uint8_t *counter) {*delta = _state_reset_status.velD_change; *counter = _state_reset_status.velD_counter;}
 
 	// return the amount the local horizontal position changed in the last reset and the number of reset events
-	void get_posNE_reset(Vector2f *delta, uint8_t *counter) {*delta = _state_reset_status.posNE_change; *counter = _state_reset_status.posNE_counter;}
+	void get_posNE_reset(float delta[2], uint8_t *counter){
+		memcpy(delta, &_state_reset_status.posNE_change._data[0], sizeof(_state_reset_status.posNE_change._data));
+		*counter = _state_reset_status.posNE_counter;
+	}
 
 	// return the amount the local horizontal velocity changed in the last reset and the number of reset events
-	void get_velNE_reset(Vector2f *delta, uint8_t *counter) {*delta = _state_reset_status.velNE_change; *counter = _state_reset_status.velNE_counter;}
+	void get_velNE_reset(float delta[2], uint8_t *counter) {
+		memcpy(delta, &_state_reset_status.velNE_change._data[0], sizeof(_state_reset_status.velNE_change._data));
+		*counter = _state_reset_status.velNE_counter;
+	}
 
 	// return the amount the quaternion has changed in the last reset and the number of reset events
-	void get_quat_reset(Quaternion *delta, uint8_t *counter)
+	void get_quat_reset(float delta_quat[4], uint8_t *counter)
 	{
-		*delta = _state_reset_status.quat_change;
+		memcpy(delta_quat, &_state_reset_status.quat_change._data[0], sizeof(_state_reset_status.quat_change._data));
 		*counter = _state_reset_status.quat_counter;
 	}
 

diff --git a/EKF/estimator_interface.h b/EKF/estimator_interface.h
@@ -224,13 +224,13 @@ class EstimatorInterface
 	virtual void get_velD_reset(float *delta, uint8_t *counter) = 0;
 
 	// return the amount the local horizontal position changed in the last reset and the number of reset events
-	virtual void get_posNE_reset(Vector2f *delta, uint8_t *counter) = 0;
+	virtual void get_posNE_reset(float delta[2], uint8_t *counter) = 0;
 
 	// return the amount the local horizontal velocity changed in the last reset and the number of reset events
-	virtual void get_velNE_reset(Vector2f *delta, uint8_t *counter) = 0;
+	virtual void get_velNE_reset(float delta[2], uint8_t *counter) = 0;
 
 	// return the amount the quaternion has changed in the last reset and the number of reset events
-	virtual void get_quat_reset(Quaternion *delta, uint8_t *counter) = 0;
+	virtual void get_quat_reset(float delta_quat[4], uint8_t *counter) = 0;
 
 	// get EKF innovation consistency check status
 	virtual void get_innovation_test_status(uint16_t *val)