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ekf2: add unaided_yaw for more resilient yaw control

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This estimate doesn't converge to the true yaw but can be used as a
more consistent but drifting heading source.
It can be used by a setpoint generator to adjust its heading setpoint
while the true yaw estimate is converging in order to keep a constant
course over ground.
This commit is contained in:
bresch
2023-08-30 09:56:19 +02:00
committed by Mathieu Bresciani
parent 329a2d0e98
commit 0aa4afdbce
5 changed files with 13 additions and 0 deletions
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src/modules/ekf2/EKF/estimator_interface.h
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@@ -224,6 +224,7 @@ public:
int getNumberOfActiveVerticalVelocityAidingSources() const;
const matrix::Quatf &getQuaternion() const { return _output_predictor.getQuaternion(); }
float getUnaidedYaw() const { return _output_predictor.getUnaidedYaw(); }
Vector3f getVelocity() const { return _output_predictor.getVelocity(); }
const Vector3f &getVelocityDerivative() const { return _output_predictor.getVelocityDerivative(); }
float getVerticalPositionDerivative() const { return _output_predictor.getVerticalPositionDerivative(); }