RTK EKF refactor (#830)

* Velocity constraint as an rtklib parameter/option * moved velcon to the end of the struct --------- Co-authored-by: Alexander Bogdanov <[email protected]>
inertialsense · Feb 7, 2025 · 73d9a1c · 73d9a1c
1 parent 24aea0c
commit 73d9a1c
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/src/data_sets.h b/src/data_sets.h
@@ -3771,6 +3771,9 @@ typedef struct
 
     /** output single by dgps/float/fix/ppp outage */
     int32_t outsingle;
+
+    /** velocity constraint in compassing mode {var before fix, var after fix} (m^2/s^2) **/
+    float velcon[2];
 } prcopt_t;
 typedef prcopt_t gps_rtk_opt_t;