fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-28 19:03:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: simplify fuseYaw() signature and use consistently

Browse Source 
- make it safe to call for other aid sources, no EKF state is changed unless fusion_enabled
This commit is contained in:
Daniel Agar
2023-07-24 10:34:00 -04:00
committed by GitHub
parent 01bcc47fb1
commit 1ef9ee7622
5 changed files with 83 additions and 73 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF/ekf.h
+2 -2
View File
@@ -751,8 +751,8 @@ private:
bool fuseMag(const Vector3f &mag, estimator_aid_source3d_s &aid_src_mag, bool update_all_states = true);
// update quaternion states and covariances using an innovation, observation variance and Jacobian vector
bool fuseYaw(float innovation, float variance, estimator_aid_source1d_s &aid_src_status);
bool fuseYaw(float innovation, float variance, estimator_aid_source1d_s &aid_src_status, const Vector24f &H_YAW);
bool fuseYaw(estimator_aid_source1d_s &aid_src_status);
bool fuseYaw(estimator_aid_source1d_s &aid_src_status, const Vector24f &H_YAW);
void computeYawInnovVarAndH(float variance, float &innovation_variance, Vector24f &H_YAW) const;
#if defined(CONFIG_EKF2_GNSS_YAW)