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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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src/modules/ekf2/EKF/estimator_interface.h
-1
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@@ -335,7 +335,6 @@ protected:
Vector2f _ev_pos_test_ratio{}; // EV position innovation consistency check ratios
Vector2f _aux_vel_test_ratio{}; // Auxiliary horizontal velocity innovation consistency check ratio
float _optflow_test_ratio{}; // Optical flow innovation consistency check ratio
float _tas_test_ratio{}; // tas innovation consistency check ratio
float _hagl_test_ratio{}; // height above terrain measurement innovation consistency check ratio
float _beta_test_ratio{}; // sideslip innovation consistency check ratio
Vector2f _drag_test_ratio{}; // drag innovation consistency check ratio