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ekf2: add kconfig for barometer support (enabled by default)

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Daniel Agar
2023-09-15 10:02:09 -04:00
parent f0224c5104
commit 1e9f0ad2c6
13 changed files with 168 additions and 64 deletions
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src/modules/ekf2/EKF/covariance.cpp
+4
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@@ -423,7 +423,11 @@ void Ekf::fixCovarianceErrors(bool force_symmetry)
#endif // CONFIG_EKF2_EXTERNAL_VISION
if (bad_vz_gps || bad_vz_ev) {
#if defined(CONFIG_EKF2_BAROMETER)
bool bad_z_baro = _control_status.flags.baro_hgt && (down_dvel_bias * _aid_src_baro_hgt.innovation < 0.0f);
#else
bool bad_z_baro = false;
#endif
bool bad_z_gps = _control_status.flags.gps_hgt && (down_dvel_bias * _aid_src_gnss_hgt.innovation < 0.0f);
#if defined(CONFIG_EKF2_RANGE_FINDER)