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ekf2: use estimator_aid_source_1d message for airspeed fusion

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split the fusion process into:
1. updateAirspeed: computes innov, innov_var, obs_var, ...
2. fuseAirspeed: uses data computed in 1. to generate K, H and fuse the
   observation
This commit is contained in:
bresch
2022-07-07 09:42:54 -04:00
committed by Daniel Agar
parent 503aa87957
commit 2fd87c47e8
6 changed files with 88 additions and 71 deletions
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msg/estimator_aid_source_1d.msg
+1 -1
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@@ -19,4 +19,4 @@ bool innovation_rejected # true if the observation has been rejected
bool fused # true if the sample was successfully fused
# TOPICS estimator_aid_source_1d
# TOPICS estimator_aid_src_baro_hgt estimator_aid_src_rng_hgt
# TOPICS estimator_aid_src_baro_hgt estimator_aid_src_rng_hgt estimator_aid_src_airspeed