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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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src/modules/ekf2/EKF/airspeed_fusion.cpp
+1 -1
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@@ -52,7 +52,7 @@
void Ekf::updateAirspeed(const airspeedSample &airspeed_sample, estimator_aid_source_1d_s &airspeed) const
{
// reset flags
resetEstimatorAidStatusFlags(airspeed);
resetEstimatorAidStatus(airspeed);
// Variance for true airspeed measurement - (m/sec)^2
const float R = sq(math::constrain(_params.eas_noise, 0.5f, 5.0f) *