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estimator_aid_source split GNSS pos (3d) -> pos (2d) + hgt

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- per estimator air source status only keep a single set of flags and
timestamp that applies to the entire source
This commit is contained in:
Daniel Agar
2022-10-13 11:28:50 -04:00
parent 8a9a091ff3
commit 2de990fd4b
26 changed files with 578 additions and 691 deletions
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msg/estimator_aid_source_2d.msg
+6 -5
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@@ -5,7 +5,7 @@ uint8 estimator_instance
uint32 device_id
uint64[2] time_last_fuse
uint64 time_last_fuse
float32[2] observation
float32[2] observation_variance
@@ -14,9 +14,10 @@ float32[2] innovation
float32[2] innovation_variance
float32[2] test_ratio
bool[2] fusion_enabled # true when measurements are being fused
bool[2] innovation_rejected # true if the observation has been rejected
bool[2] fused # true if the sample was successfully fused
bool fusion_enabled # true when measurements are being fused
bool innovation_rejected # true if the observation has been rejected
bool fused # true if the sample was successfully fused
# TOPICS estimator_aid_source_2d
# TOPICS estimator_aid_src_fake_pos
# TOPICS estimator_aid_src_ev_pos estimator_aid_src_fake_pos estimator_aid_src_gnss_pos
# TOPICS estimator_aid_src_aux_vel