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ekf2: split gnss pos/vel flags

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They can be selected independently in the control parameter, so there is
no reason why they should share the same flag.
This commit is contained in:
bresch
2025-03-06 15:43:38 +01:00
committed by Mathieu Bresciani
parent da3a0656d4
commit 2aaa54037c
20 changed files with 200 additions and 132 deletions
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src/modules/airspeed_selector/airspeed_selector_main.cpp
+2 -1
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@@ -561,7 +561,8 @@ void AirspeedModule::poll_topics()
_gnss_lpos_valid = (_time_now_usec - _vehicle_local_position.timestamp < 1_s)
&& (_vehicle_local_position.timestamp > 0)
&& _vehicle_local_position.v_xy_valid
&& _estimator_status.control_mode_flags & (1 << estimator_status_s::CS_GPS);
&& (_estimator_status.control_mode_flags & (1 << estimator_status_s::CS_GNSS_POS)
|| _estimator_status.control_mode_flags & (static_cast<uint64_t>(1) << estimator_status_s::CS_GNSS_VEL));
}
void AirspeedModule::update_wind_estimator_sideslip()