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EKF2: centralized auto-generated state (#22183)

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* ekf2_derivation: use single source of state definition

The state is defined as an ordered dictionary of group elements and
everything else is generated using that state definition

* ekf2: generated state sample add const reference getter

---------

Co-authored-by: bresch <[brescianimathieu@gmail.com](mailto:brescianimathieu@gmail.com)>
Co-authored-by: Daniel Agar <daniel@agar.ca>
This commit is contained in:
Mathieu Bresciani
2023-10-06 10:28:21 -04:00
committed by GitHub
co-authored by bresch Daniel Agar
parent 2e1d5687f9
commit 05fd8c5976
15 changed files with 279 additions and 206 deletions
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src/modules/ekf2/EKF/common.h
-11
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@@ -269,17 +269,6 @@ struct systemFlagUpdate {
bool gnd_effect{false};
};
struct stateSample {
Quatf quat_nominal{}; ///< quaternion defining the rotation from body to earth frame
Vector3f vel{}; ///< NED velocity in earth frame in m/s
Vector3f pos{}; ///< NED position in earth frame in m
Vector3f gyro_bias{}; ///< gyro bias estimate in rad/s
Vector3f accel_bias{}; ///< accel bias estimate in m/s^2
Vector3f mag_I{}; ///< NED earth magnetic field in gauss
Vector3f mag_B{}; ///< magnetometer bias estimate in body frame in gauss
Vector2f wind_vel{}; ///< horizontal wind velocity in earth frame in m/s
};
struct parameters {
int32_t filter_update_interval_us{10000}; ///< filter update interval in microseconds