fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 14:03:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
- 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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF/height_control.cpp
+3 -3
View File
@@ -178,7 +178,7 @@ Likelihood Ekf::estimateInertialNavFallingLikelihood() const
}
if (_control_status.flags.gps_hgt) {
checks[1] = {ReferenceType::GNSS, _aid_src_gnss_pos.innovation[2], _aid_src_gnss_pos.innovation_variance[2]};
checks[1] = {ReferenceType::GNSS, _aid_src_gnss_hgt.innovation, _aid_src_gnss_hgt.innovation_variance};
}
if (_control_status.flags.gps) {
@@ -190,11 +190,11 @@ Likelihood Ekf::estimateInertialNavFallingLikelihood() const
}
if (_control_status.flags.ev_hgt) {
checks[4] = {ReferenceType::GROUND, _ev_pos_innov(2), _ev_pos_innov_var(2)};
checks[4] = {ReferenceType::GROUND, _aid_src_ev_hgt.innovation, _aid_src_ev_hgt.innovation_variance};
}
if (_control_status.flags.ev_vel) {
checks[5] = {ReferenceType::GROUND, _ev_vel_innov(2), _ev_vel_innov_var(2)};
checks[5] = {ReferenceType::GROUND, _aid_src_ev_vel.innovation[2], _aid_src_ev_vel.innovation_variance[2]};
}
// Compute the check based on innovation ratio for all the sources