Add support for INSCOVS.

The position and velocity covariances are rotated into the correct
frames: NED and FRD.

1 files changed, 7 insertions, 0 deletions

diff --git a/src/main.h b/src/main.h
index 2139248..aa97995 100644
--- a/src/main.h
+++ b/src/main.h
@@ -17,6 +17,11 @@
 #define MAXLINE 8192
 #define MAXFILENAME 1024
 
+// A struct for storing PVA covariance.
+typedef struct {
+    Eigen::Matrix3d position,velocity,attitude;
+} covariance_t;
+
 // A struct for storing x,y,z data.
 typedef struct {
     double x,y,z;
@@ -69,6 +74,7 @@ typedef struct {
     gps position;
     UTM utm;
     velocity_t velocity;
+    covariance_t covariance;
 } message;
 
 int parseLine(char *line, message *msg);
@@ -77,6 +83,7 @@ timestamp update_dt(const timestamp t, timestamp *t_old);
 #ifdef  USE_ROS
 void imuCallback();
 #else      /* -----  not USE_ROS  ----- */
+void covCallback(const message &msg, Eigen::Matrix<double,9,9> &P, const Eigen::Quaternion<double> &q);
 void imgCallback(const message *msg);
 void imuCallback(const message &msg, Eigen::Matrix<double,9,1> &X, const Eigen::Quaternion<double> &q, const timestamp dt);
 void pvaCallback(const message &msg, Eigen::Matrix<double,9,1> &X, Eigen::Quaternion<double> &q);