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ekf2: add dedicated EKF2_CONFIG_TERRAIN in kconfig

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- new estimator_aid_src_terrain_range_finder for HAGL RNG
This commit is contained in:
Daniel Agar
2023-09-15 10:02:09 -04:00
parent 845b01a00d
commit 10b54d08fc
14 changed files with 367 additions and 253 deletions
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src/modules/ekf2/EKF/CMakeLists.txt
+4 -1
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@@ -104,7 +104,6 @@ if(CONFIG_EKF2_RANGE_FINDER)
range_finder_consistency_check.cpp
range_height_control.cpp
sensor_range_finder.cpp
terrain_estimator.cpp
)
endif()
@@ -112,6 +111,10 @@ if(CONFIG_EKF2_SIDESLIP)
list(APPEND EKF_SRCS sideslip_fusion.cpp)
endif()
if(CONFIG_EKF2_TERRAIN)
list(APPEND EKF_SRCS terrain_estimator.cpp)
endif()
add_library(ecl_EKF
${EKF_SRCS}
)