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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/optical_flow_control.cpp
+1 -1
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@@ -209,7 +209,7 @@ void Ekf::controlOpticalFlowFusion(const imuSample &imu_delayed)
if (_time_delayed_us > (_flow_sample_delayed.time_us - uint32_t(1e6f * _flow_sample_delayed.dt) / 2)) {
// Fuse optical flow LOS rate observations into the main filter only if height above ground has been updated recently
// but use a relaxed time criteria to enable it to coast through bad range finder data
if (isRecent(_time_last_hagl_fuse, (uint64_t)10e6)) {
if (isRecent(_aid_src_terrain_range_finder.time_last_fuse, (uint64_t)10e6)) {
fuseOptFlow();
_last_known_pos.xy() = _state.pos.xy();
}