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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/ev_height_control.cpp
+1 -1
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@@ -89,7 +89,7 @@ void Ekf::startEvHgtFusion()
{
if (!_control_status.flags.ev_hgt) {
if (_params.height_sensor_ref == HeightSensor::EV) {
_rng_hgt_b_est.reset();
_ev_hgt_b_est.reset();
_height_sensor_ref = HeightSensor::EV;
resetHeightToEv();