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

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This commit is contained in:
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/height_control.cpp
+6
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@@ -41,10 +41,14 @@ void Ekf::controlHeightFusion(const imuSample &imu_delayed)
{
checkVerticalAccelerationHealth(imu_delayed);
#if defined(CONFIG_EKF2_BAROMETER)
updateGroundEffect();
controlBaroHeightFusion();
#endif // CONFIG_EKF2_BAROMETER
controlGnssHeightFusion(_gps_sample_delayed);
#if defined(CONFIG_EKF2_RANGE_FINDER)
controlRangeHeightFusion();
#endif // CONFIG_EKF2_RANGE_FINDER
@@ -175,9 +179,11 @@ Likelihood Ekf::estimateInertialNavFallingLikelihood() const
bool failed_lim{false};
} checks[6] {};
#if defined(CONFIG_EKF2_BAROMETER)
if (_control_status.flags.baro_hgt) {
checks[0] = {ReferenceType::PRESSURE, _aid_src_baro_hgt.innovation, _aid_src_baro_hgt.innovation_variance};
}
#endif // CONFIG_EKF2_BAROMETER
if (_control_status.flags.gps_hgt) {
checks[1] = {ReferenceType::GNSS, _aid_src_gnss_hgt.innovation, _aid_src_gnss_hgt.innovation_variance};