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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/covariance.cpp
+5 -5
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@@ -1001,13 +1001,13 @@ void Ekf::fixCovarianceErrors(bool force_symmetry)
if (fabsf(down_dvel_bias) > dVel_bias_lim) {
bool bad_vz_gps = _control_status.flags.gps && (down_dvel_bias * _aid_src_gnss_vel.innovation[2] < 0.0f);
bool bad_vz_ev = _control_status.flags.ev_vel && (down_dvel_bias * _ev_vel_innov(2) < 0.0f);
bool bad_vz_ev = _control_status.flags.ev_vel && (down_dvel_bias * _aid_src_ev_vel.innovation[2] < 0.0f);
if (bad_vz_gps || bad_vz_ev) {
bool bad_z_baro = _control_status.flags.baro_hgt && (down_dvel_bias * _aid_src_baro_hgt.innovation < 0.0f);
bool bad_z_gps = _control_status.flags.gps_hgt && (down_dvel_bias * _aid_src_gnss_pos.innovation[2] < 0.0f);
bool bad_z_rng = _control_status.flags.rng_hgt && (down_dvel_bias * _aid_src_rng_hgt.innovation < 0.0f);
bool bad_z_ev = _control_status.flags.ev_hgt && (down_dvel_bias * _ev_pos_innov(2) < 0.0f);
bool bad_z_baro = _control_status.flags.baro_hgt && (down_dvel_bias * _aid_src_baro_hgt.innovation < 0.0f);
bool bad_z_gps = _control_status.flags.gps_hgt && (down_dvel_bias * _aid_src_gnss_hgt.innovation < 0.0f);
bool bad_z_rng = _control_status.flags.rng_hgt && (down_dvel_bias * _aid_src_rng_hgt.innovation < 0.0f);
bool bad_z_ev = _control_status.flags.ev_hgt && (down_dvel_bias * _aid_src_ev_hgt.innovation < 0.0f);
if (bad_z_baro || bad_z_gps || bad_z_rng || bad_z_ev) {