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EKF: Enable use of rotated external nav estimates

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Paul Riseborough
2017-11-01 08:33:57 +11:00
parent f921b2de5c
commit 01d68ef67c
7 changed files with 249 additions and 82 deletions
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EKF/common.h
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@@ -174,6 +174,7 @@ struct dragSample {
#define MASK_USE_EVPOS (1<<3) ///< set to true to use external vision NED position data
#define MASK_USE_EVYAW (1<<4) ///< set to true to use exernal vision quaternion data for yaw
#define MASK_USE_DRAG (1<<5) ///< set to true to use the multi-rotor drag model to estimate wind
#define MASK_ROTATE_EV (1<<6) ///< set to true to if the EV observations are in a non NED reference frame and need to be rotated before being used
// Integer definitions for mag_fusion_type
#define MAG_FUSE_TYPE_AUTO 0 ///< The selection of either heading or 3D magnetometer fusion will be automatic