AP_InertialNav_NavEKF.h

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/*
  A wrapper around the AP_InertialNav class which uses the NavEKF
  filter if available, and falls back to the AP_InertialNav filter
  when EKF is not available
 */
#pragma once

#include <AP_NavEKF/AP_Nav_Common.h>              // definitions shared by inertial and ekf nav filters

class AP_InertialNav_NavEKF : public AP_InertialNav
{
public:
    // Constructor
    AP_InertialNav_NavEKF(AP_AHRS_NavEKF &ahrs) :
        AP_InertialNav(),
        _haveabspos(false),
        _ahrs_ekf(ahrs)
        {}

    void        update(float dt);

    nav_filter_status get_filter_status() const;

    struct Location get_origin() const;

    const Vector3f&    get_position() const;

    bool get_location(struct Location &loc) const;

    int32_t     get_latitude() const;

    int32_t     get_longitude() const;

    const Vector3f&    get_velocity() const;

    float    get_pos_z_derivative() const;

    float        get_velocity_xy() const;

    float       get_altitude() const;

    float       get_velocity_z() const;

private:
    Vector3f _relpos_cm;   // NEU
    Vector3f _velocity_cm; // NEU
    float _pos_z_rate;
    struct Location _abspos;
    bool _haveabspos;
    AP_AHRS_NavEKF &_ahrs_ekf;
};