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feat(ekf2): enable fusion-ctrl toggle over mavlink cmd, CTRL param act only as reference

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Marco Hauswirth
2026-04-02 16:20:19 +02:00
committed by Marco Hauswirth
parent 2828162f72
commit 0dd1640a54
27 changed files with 355 additions and 34 deletions
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msg/CMakeLists.txt
+1
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@@ -79,6 +79,7 @@ set(msg_files
EstimatorBias.msg
EstimatorBias3d.msg
EstimatorEventFlags.msg
EstimatorFusionControl.msg
EstimatorGpsStatus.msg
EstimatorInnovations.msg
EstimatorSelectorStatus.msg
msg/EstimatorFusionControl.msg
+13
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@@ -0,0 +1,13 @@
uint64 timestamp # time since system start (microseconds)
int32 gps_intended # effective EKF2_GPS_CTRL value (0 = disabled)
int32 of_intended # effective EKF2_OF_CTRL value (0 = disabled)
int32 ev_intended # effective EKF2_EV_CTRL value (0 = disabled)
int32[4] agp_intended # effective EKF2_AGPx_CTRL values (0 = disabled)
int32 baro_intended # effective EKF2_BARO_CTRL value (0 = disabled)
int32 rng_intended # effective EKF2_RNG_CTRL value (0 = disabled)
int32 drag_intended # effective EKF2_DRAG_CTRL value (0 = disabled)
int32 mag_intended # effective EKF2_MAG_TYPE value (5 = disabled/NONE)
int32 imu_intended # effective EKF2_IMU_CTRL value (0 = disabled)
uint8 agp_active # bitmask of AGP instances actively fusing (bit i = instance i)
msg/versioned/VehicleCommand.msg
+11
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@@ -110,6 +110,17 @@ uint16 VEHICLE_CMD_DO_WINCH = 42600 # Command to operate winch.
uint16 VEHICLE_CMD_EXTERNAL_POSITION_ESTIMATE = 43003 # External reset of estimator global position when dead reckoning.
uint16 VEHICLE_CMD_EXTERNAL_WIND_ESTIMATE = 43004
uint16 VEHICLE_CMD_SET_EKF_SENSOR_FUSION = 43005 # Enable/disable EKF sensor fusion. |sensor (FUSION_SOURCE_*)|instance (0-based, for multi-instance types)|action (0=disable, 1=enable)|Unused|Unused|Unused|Unused|
# Sensor fusion source types for VEHICLE_CMD_SET_EKF_SENSOR_FUSION
uint8 FUSION_SOURCE_GPS = 1 # GNSS (EKF2_GPS_CTRL)
uint8 FUSION_SOURCE_OF = 2 # Optical Flow (EKF2_OF_CTRL)
uint8 FUSION_SOURCE_EV = 3 # External Vision (EKF2_EV_CTRL)
uint8 FUSION_SOURCE_AGP = 4 # Auxiliary Global Position (EKF2_AGP{i}_CTRL, use instance param)
uint8 FUSION_SOURCE_BARO = 5 # Barometer (EKF2_BARO_CTRL)
uint8 FUSION_SOURCE_RNG = 6 # Range Finder (EKF2_RNG_CTRL)
uint8 FUSION_SOURCE_DRAG = 7 # Drag (EKF2_DRAG_CTRL)
uint8 FUSION_SOURCE_MAG = 8 # Magnetometer (EKF2_MAG_TYPE)
uint8 FUSION_SOURCE_IMU = 9 # IMU (EKF2_IMU_CTRL)
# PX4 vehicle commands (beyond 16 bit MAVLink commands).
uint32 VEHICLE_CMD_PX4_INTERNAL_START = 65537 # Start of PX4 internal only vehicle commands (> UINT16_MAX).