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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/ekf.h
+5 -1
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@@ -862,7 +862,11 @@ private:
#if defined(CONFIG_EKF2_GNSS)
// control fusion of GPS observations
void controlGpsFusion(const imuSample &imu_delayed);
void stopGpsFusion();
void controlGnssVelFusion(estimator_aid_source3d_s &aid_src, bool force_reset);
void controlGnssPosFusion(estimator_aid_source2d_s &aid_src, const bool force_reset);
void stopGnssFusion();
void stopGnssVelFusion();
void stopGnssPosFusion();
void updateGnssVel(const imuSample &imu_sample, const gnssSample &gnss_sample, estimator_aid_source3d_s &aid_src);
void updateGnssPos(const gnssSample &gnss_sample, estimator_aid_source2d_s &aid_src);
void controlGnssYawEstimator(estimator_aid_source3d_s &aid_src_vel);