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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/common.h
+2 -2
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@@ -240,8 +240,8 @@ struct dragSample {
struct auxVelSample {
uint64_t time_us{}; ///< timestamp of the measurement (uSec)
Vector3f vel{}; ///< measured NE velocity relative to the local origin (m/sec)
Vector3f velVar{}; ///< estimated error variance of the NE velocity (m/sec)**2
Vector2f vel{}; ///< measured NE velocity relative to the local origin (m/sec)
Vector2f velVar{}; ///< estimated error variance of the NE velocity (m/sec)**2
};
struct stateSample {