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ekf2: estimator aid source status (baro height)

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Daniel Agar
2022-05-25 09:25:12 -04:00
parent 4dbe6f0a1c
commit 1e25aee6fa
13 changed files with 218 additions and 156 deletions
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src/modules/ekf2/EKF/covariance.cpp
+1 -1
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@@ -991,7 +991,7 @@ void Ekf::fixCovarianceErrors(bool force_symmetry)
bool bad_vz_ev = _control_status.flags.ev_vel && (down_dvel_bias * _ev_vel_innov(2) < 0.0f);
if (bad_vz_gps || bad_vz_ev) {
bool bad_z_baro = _control_status.flags.baro_hgt && (down_dvel_bias * _baro_hgt_innov < 0.0f);
bool bad_z_baro = _control_status.flags.baro_hgt && (down_dvel_bias * _aid_src_baro_hgt.innovation < 0.0f);
bool bad_z_gps = _control_status.flags.gps_hgt && (down_dvel_bias * _aid_src_gnss_pos.innovation[2] < 0.0f);
bool bad_z_rng = _control_status.flags.rng_hgt && (down_dvel_bias * _rng_hgt_innov < 0.0f);
bool bad_z_ev = _control_status.flags.ev_hgt && (down_dvel_bias * _ev_pos_innov(2) < 0.0f);