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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/fake_pos_control.cpp
+4 -2
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@@ -139,10 +139,12 @@ void Ekf::fuseFakePosition()
fake_pos.innovation[i] = _state.pos(i) - _last_known_posNE(i);
fake_pos.innovation_variance[i] = P(7 + i, 7 + i) + obs_var(i);
fake_pos.test_ratio[i] = sq(fake_pos.innovation[i]) / (sq(innov_gate) * fake_pos.innovation_variance[i]);
}
fake_pos.innovation_rejected[i] = (fake_pos.test_ratio[i] > 1.f);
setEstimatorAidStatusTestRatio(fake_pos, innov_gate);
// fuse
for (int i = 0; i < 2; i++) {
// always protect against extreme values that could result in a NaN
fake_pos.fusion_enabled[i] = fake_pos.test_ratio[i] < sq(100.0f / innov_gate);