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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
2025-03-11 14:14:40 +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/ekf2/EKF/common.h
+3 -3
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@@ -566,7 +566,7 @@ union filter_control_status_u {
struct {
uint64_t tilt_align : 1; ///< 0 - true if the filter tilt alignment is complete
uint64_t yaw_align : 1; ///< 1 - true if the filter yaw alignment is complete
uint64_t gps : 1; ///< 2 - true if GPS measurement fusion is intended
uint64_t gnss_pos : 1; ///< 2 - true if GNSS position measurement fusion is intended
uint64_t opt_flow : 1; ///< 3 - true if optical flow measurements fusion is intended
uint64_t mag_hdg : 1; ///< 4 - true if a simple magnetic yaw heading fusion is intended
uint64_t mag_3D : 1; ///< 5 - true if 3-axis magnetometer measurement fusion is intended
@@ -620,8 +620,8 @@ uint64_t mag_heading_consistent :
uint64_t opt_flow_terrain : 1; ///< 40 - true if we are fusing flow data for terrain
uint64_t valid_fake_pos : 1; ///< 41 - true if a valid constant position is being fused
uint64_t constant_pos : 1; ///< 42 - true if the vehicle is at a constant position
uint64_t baro_fault : 1; ///< 43 - true when the baro has been declared faulty and is no longer being used
uint64_t baro_fault : 1; ///< 43 - true when the baro has been declared faulty and is no longer being used
uint64_t gnss_vel : 1; ///< 44 - true if GNSS velocity measurement fusion is intended
} flags;
uint64_t value;
};