mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-26 20:13:34 +08:00
ekf2: add kconfig option to enable/disable range finder fusion (and terrain estimator)
This commit is contained in:
Daniel Agar
+93
-81
@@ -95,17 +95,41 @@ public:
|
||||
void getBaroHgtInnovVar(float &baro_hgt_innov_var) const { baro_hgt_innov_var = _aid_src_baro_hgt.innovation_variance; }
|
||||
void getBaroHgtInnovRatio(float &baro_hgt_innov_ratio) const { baro_hgt_innov_ratio = _aid_src_baro_hgt.test_ratio; }
|
||||
|
||||
#if defined(CONFIG_EKF2_RANGE_FINDER)
|
||||
// range height
|
||||
const BiasEstimator::status &getRngHgtBiasEstimatorStatus() const { return _rng_hgt_b_est.getStatus(); }
|
||||
const auto &aid_src_rng_hgt() const { return _aid_src_rng_hgt; }
|
||||
|
||||
void getRngHgtInnov(float &rng_hgt_innov) const { rng_hgt_innov = _aid_src_rng_hgt.innovation; }
|
||||
void getRngHgtInnovVar(float &rng_hgt_innov_var) const { rng_hgt_innov_var = _aid_src_rng_hgt.innovation_variance; }
|
||||
void getRngHgtInnovRatio(float &rng_hgt_innov_ratio) const { rng_hgt_innov_ratio = _aid_src_rng_hgt.test_ratio; }
|
||||
|
||||
#if defined(CONFIG_EKF2_AUXVEL)
|
||||
void getAuxVelInnov(float aux_vel_innov[2]) const;
|
||||
void getAuxVelInnovVar(float aux_vel_innov[2]) const;
|
||||
void getAuxVelInnovRatio(float &aux_vel_innov_ratio) const { aux_vel_innov_ratio = math::max(_aid_src_aux_vel.test_ratio[0], _aid_src_aux_vel.test_ratio[1]); }
|
||||
#endif // CONFIG_EKF2_AUXVEL
|
||||
void getHaglInnov(float &hagl_innov) const { hagl_innov = _hagl_innov; }
|
||||
void getHaglInnovVar(float &hagl_innov_var) const { hagl_innov_var = _hagl_innov_var; }
|
||||
void getHaglInnovRatio(float &hagl_innov_ratio) const { hagl_innov_ratio = _hagl_test_ratio; }
|
||||
|
||||
void getHaglRateInnov(float &hagl_rate_innov) const { hagl_rate_innov = _rng_consistency_check.getInnov(); }
|
||||
void getHaglRateInnovVar(float &hagl_rate_innov_var) const { hagl_rate_innov_var = _rng_consistency_check.getInnovVar(); }
|
||||
void getHaglRateInnovRatio(float &hagl_rate_innov_ratio) const { hagl_rate_innov_ratio = _rng_consistency_check.getSignedTestRatioLpf(); }
|
||||
|
||||
// terrain estimate
|
||||
bool isTerrainEstimateValid() const;
|
||||
|
||||
uint8_t getTerrainEstimateSensorBitfield() const { return _hagl_sensor_status.value; }
|
||||
|
||||
// get the estimated terrain vertical position relative to the NED origin
|
||||
float getTerrainVertPos() const { return _terrain_vpos; };
|
||||
|
||||
// get the number of times the vertical terrain position has been reset
|
||||
uint8_t getTerrainVertPosResetCounter() const { return _terrain_vpos_reset_counter; };
|
||||
|
||||
// get the terrain variance
|
||||
float get_terrain_var() const { return _terrain_var; }
|
||||
#endif // CONFIG_EKF2_RANGE_FINDER
|
||||
|
||||
#if defined(CONFIG_EKF2_OPTICAL_FLOW)
|
||||
const auto &aid_src_optical_flow() const { return _aid_src_optical_flow; }
|
||||
|
||||
void getFlowInnov(float flow_innov[2]) const;
|
||||
void getFlowInnovVar(float flow_innov_var[2]) const;
|
||||
void getFlowInnovRatio(float &flow_innov_ratio) const { flow_innov_ratio = math::max(_aid_src_optical_flow.test_ratio[0], _aid_src_optical_flow.test_ratio[1]); }
|
||||
@@ -123,10 +147,15 @@ public:
|
||||
void getTerrainFlowInnovVar(float flow_innov_var[2]) const;
|
||||
void getTerrainFlowInnovRatio(float &flow_innov_ratio) const { flow_innov_ratio = math::max(_aid_src_terrain_optical_flow.test_ratio[0], _aid_src_terrain_optical_flow.test_ratio[1]); }
|
||||
|
||||
const auto &aid_src_optical_flow() const { return _aid_src_optical_flow; }
|
||||
const auto &aid_src_terrain_optical_flow() const { return _aid_src_terrain_optical_flow; }
|
||||
#endif // CONFIG_EKF2_OPTICAL_FLOW
|
||||
|
||||
#if defined(CONFIG_EKF2_AUXVEL)
|
||||
void getAuxVelInnov(float aux_vel_innov[2]) const;
|
||||
void getAuxVelInnovVar(float aux_vel_innov[2]) const;
|
||||
void getAuxVelInnovRatio(float &aux_vel_innov_ratio) const { aux_vel_innov_ratio = math::max(_aid_src_aux_vel.test_ratio[0], _aid_src_aux_vel.test_ratio[1]); }
|
||||
#endif // CONFIG_EKF2_AUXVEL
|
||||
|
||||
void getHeadingInnov(float &heading_innov) const
|
||||
{
|
||||
if (_control_status.flags.mag_hdg) {
|
||||
@@ -230,14 +259,6 @@ public:
|
||||
void getBetaInnovRatio(float &beta_innov_ratio) const { beta_innov_ratio = _aid_src_sideslip.test_ratio; }
|
||||
#endif // CONFIG_EKF2_SIDESLIP
|
||||
|
||||
void getHaglInnov(float &hagl_innov) const { hagl_innov = _hagl_innov; }
|
||||
void getHaglInnovVar(float &hagl_innov_var) const { hagl_innov_var = _hagl_innov_var; }
|
||||
void getHaglInnovRatio(float &hagl_innov_ratio) const { hagl_innov_ratio = _hagl_test_ratio; }
|
||||
|
||||
void getHaglRateInnov(float &hagl_rate_innov) const { hagl_rate_innov = _rng_consistency_check.getInnov(); }
|
||||
void getHaglRateInnovVar(float &hagl_rate_innov_var) const { hagl_rate_innov_var = _rng_consistency_check.getInnovVar(); }
|
||||
void getHaglRateInnovRatio(float &hagl_rate_innov_ratio) const { hagl_rate_innov_ratio = _rng_consistency_check.getSignedTestRatioLpf(); }
|
||||
|
||||
void getGravityInnov(float grav_innov[3]) const { memcpy(grav_innov, _aid_src_gravity.innovation, sizeof(_aid_src_gravity.innovation)); }
|
||||
void getGravityInnovVar(float grav_innov_var[3]) const { memcpy(grav_innov_var, _aid_src_gravity.innovation_variance, sizeof(_aid_src_gravity.innovation_variance)); }
|
||||
void getGravityInnovRatio(float &grav_innov_ratio) const { grav_innov_ratio = Vector3f(_aid_src_gravity.test_ratio).max(); }
|
||||
@@ -331,8 +352,6 @@ public:
|
||||
return !_vertical_velocity_deadreckon_time_exceeded && !_control_status.flags.fake_hgt;
|
||||
}
|
||||
|
||||
bool isTerrainEstimateValid() const;
|
||||
|
||||
bool isYawFinalAlignComplete() const
|
||||
{
|
||||
const bool is_using_mag = (_control_status.flags.mag_3D || _control_status.flags.mag_hdg);
|
||||
@@ -343,17 +362,6 @@ public:
|
||||
&& (is_mag_alignment_in_flight_complete || !is_using_mag);
|
||||
}
|
||||
|
||||
uint8_t getTerrainEstimateSensorBitfield() const { return _hagl_sensor_status.value; }
|
||||
|
||||
// get the estimated terrain vertical position relative to the NED origin
|
||||
float getTerrainVertPos() const { return _terrain_vpos; };
|
||||
|
||||
// get the number of times the vertical terrain position has been reset
|
||||
uint8_t getTerrainVertPosResetCounter() const { return _terrain_vpos_reset_counter; };
|
||||
|
||||
// get the terrain variance
|
||||
float get_terrain_var() const { return _terrain_var; }
|
||||
|
||||
// gyro bias (states 10, 11, 12)
|
||||
Vector3f getGyroBias() const { return _state.delta_ang_bias / _dt_ekf_avg; } // get the gyroscope bias in rad/s
|
||||
Vector3f getGyroBiasVariance() const { return Vector3f{P(10, 10), P(11, 11), P(12, 12)} / sq(_dt_ekf_avg); } // get the gyroscope bias variance in rad/s
|
||||
@@ -454,7 +462,7 @@ public:
|
||||
uint8_t getHeightSensorRef() const { return _height_sensor_ref; }
|
||||
const BiasEstimator::status &getBaroBiasEstimatorStatus() const { return _baro_b_est.getStatus(); }
|
||||
const BiasEstimator::status &getGpsHgtBiasEstimatorStatus() const { return _gps_hgt_b_est.getStatus(); }
|
||||
const BiasEstimator::status &getRngHgtBiasEstimatorStatus() const { return _rng_hgt_b_est.getStatus(); }
|
||||
|
||||
#if defined(CONFIG_EKF2_EXTERNAL_VISION)
|
||||
const BiasEstimator::status &getEvHgtBiasEstimatorStatus() const { return _ev_hgt_b_est.getStatus(); }
|
||||
|
||||
@@ -470,7 +478,6 @@ public:
|
||||
#endif // CONFIG_EKF2_SIDESLIP
|
||||
|
||||
const auto &aid_src_baro_hgt() const { return _aid_src_baro_hgt; }
|
||||
const auto &aid_src_rng_hgt() const { return _aid_src_rng_hgt; }
|
||||
|
||||
const auto &aid_src_fake_hgt() const { return _aid_src_fake_hgt; }
|
||||
const auto &aid_src_fake_pos() const { return _aid_src_fake_pos; }
|
||||
@@ -540,8 +547,6 @@ private:
|
||||
|
||||
// booleans true when fresh sensor data is available at the fusion time horizon
|
||||
bool _gps_data_ready{false}; ///< true when new GPS data has fallen behind the fusion time horizon and is available to be fused
|
||||
bool _flow_data_ready{false}; ///< true when the leading edge of the optical flow integration period has fallen behind the fusion time horizon
|
||||
bool _flow_for_terrain_data_ready{false}; /// same flag as "_flow_data_ready" but used for separate terrain estimator
|
||||
|
||||
uint64_t _time_last_horizontal_aiding{0}; ///< amount of time we have been doing inertial only deadreckoning (uSec)
|
||||
uint64_t _time_last_v_pos_aiding{0};
|
||||
@@ -552,10 +557,7 @@ private:
|
||||
uint64_t _time_last_hor_vel_fuse{0}; ///< time the last fusion of horizontal velocity measurements was performed (uSec)
|
||||
uint64_t _time_last_ver_vel_fuse{0}; ///< time the last fusion of verticalvelocity measurements was performed (uSec)
|
||||
uint64_t _time_last_heading_fuse{0};
|
||||
|
||||
uint64_t _time_last_flow_terrain_fuse{0}; ///< time the last fusion of optical flow measurements for terrain estimation were performed (uSec)
|
||||
uint64_t _time_last_zero_velocity_fuse{0}; ///< last time of zero velocity update (uSec)
|
||||
uint64_t _time_last_healthy_rng_data{0};
|
||||
|
||||
Vector3f _last_known_pos{}; ///< last known local position vector (m)
|
||||
|
||||
@@ -589,8 +591,30 @@ private:
|
||||
Vector2f _drag_innov_var{}; ///< multirotor drag measurement innovation variance ((m/sec**2)**2)
|
||||
#endif // CONFIG_EKF2_DRAG_FUSION
|
||||
|
||||
#if defined(CONFIG_EKF2_RANGE_FINDER)
|
||||
estimator_aid_source1d_s _aid_src_rng_hgt{};
|
||||
|
||||
HeightBiasEstimator _rng_hgt_b_est{HeightSensor::RANGE, _height_sensor_ref};
|
||||
|
||||
float _hagl_innov{0.0f}; ///< innovation of the last height above terrain measurement (m)
|
||||
float _hagl_innov_var{0.0f}; ///< innovation variance for the last height above terrain measurement (m**2)
|
||||
float _hagl_test_ratio{}; // height above terrain measurement innovation consistency check ratio
|
||||
|
||||
uint64_t _time_last_healthy_rng_data{0};
|
||||
|
||||
// Terrain height state estimation
|
||||
float _terrain_vpos{0.0f}; ///< estimated vertical position of the terrain underneath the vehicle in local NED frame (m)
|
||||
float _terrain_var{1e4f}; ///< variance of terrain position estimate (m**2)
|
||||
uint8_t _terrain_vpos_reset_counter{0}; ///< number of times _terrain_vpos has been reset
|
||||
uint64_t _time_last_hagl_fuse{0}; ///< last system time that a range sample was fused by the terrain estimator
|
||||
terrain_fusion_status_u _hagl_sensor_status{}; ///< Struct indicating type of sensor used to estimate height above ground
|
||||
|
||||
float _last_on_ground_posD{0.0f}; ///< last vertical position when the in_air status was false (m)
|
||||
#endif // CONFIG_EKF2_RANGE_FINDER
|
||||
|
||||
#if defined(CONFIG_EKF2_OPTICAL_FLOW)
|
||||
estimator_aid_source2d_s _aid_src_optical_flow{};
|
||||
estimator_aid_source2d_s _aid_src_terrain_optical_flow{};
|
||||
|
||||
// optical flow processing
|
||||
Vector3f _flow_gyro_bias{}; ///< bias errors in optical flow sensor rate gyro outputs (rad/sec)
|
||||
@@ -603,8 +627,11 @@ private:
|
||||
uint64_t _time_good_motion_us{0}; ///< last system time that on-ground motion was within limits (uSec)
|
||||
Vector2f _flow_compensated_XY_rad{}; ///< measured delta angle of the image about the X and Y body axes after removal of body rotation (rad), RH rotation is positive
|
||||
|
||||
bool _flow_data_ready{false}; ///< true when the leading edge of the optical flow integration period has fallen behind the fusion time horizon
|
||||
uint64_t _time_last_flow_terrain_fuse{0}; ///< time the last fusion of optical flow measurements for terrain estimation were performed (uSec)
|
||||
#endif // CONFIG_EKF2_OPTICAL_FLOW
|
||||
|
||||
estimator_aid_source1d_s _aid_src_baro_hgt{};
|
||||
estimator_aid_source1d_s _aid_src_rng_hgt{};
|
||||
#if defined(CONFIG_EKF2_AIRSPEED)
|
||||
estimator_aid_source1d_s _aid_src_airspeed{};
|
||||
#endif // CONFIG_EKF2_AIRSPEED
|
||||
@@ -647,11 +674,6 @@ private:
|
||||
estimator_aid_source2d_s _aid_src_aux_vel{};
|
||||
#endif // CONFIG_EKF2_AUXVEL
|
||||
|
||||
#if defined(CONFIG_EKF2_OPTICAL_FLOW)
|
||||
estimator_aid_source2d_s _aid_src_optical_flow{};
|
||||
estimator_aid_source2d_s _aid_src_terrain_optical_flow{};
|
||||
#endif // CONFIG_EKF2_OPTICAL_FLOW
|
||||
|
||||
// variables used for the GPS quality checks
|
||||
Vector3f _gps_pos_deriv_filt{}; ///< GPS NED position derivative (m/sec)
|
||||
Vector2f _gps_velNE_filt{}; ///< filtered GPS North and East velocity (m/sec)
|
||||
@@ -678,7 +700,6 @@ private:
|
||||
AlphaFilter<float> _baro_lpf{0.1f}; ///< filtered barometric height measurement (m)
|
||||
|
||||
// Variables used to control activation of post takeoff functionality
|
||||
float _last_on_ground_posD{0.0f}; ///< last vertical position when the in_air status was false (m)
|
||||
uint64_t _flt_mag_align_start_time{0}; ///< time that inflight magnetic field alignment started (uSec)
|
||||
uint64_t _time_last_mov_3d_mag_suitable{0}; ///< last system time that sufficient movement to use 3-axis magnetometer fusion was detected (uSec)
|
||||
Vector3f _saved_mag_bf_variance {}; ///< magnetic field state variances that have been saved for use at the next initialisation (Gauss**2)
|
||||
@@ -696,13 +717,6 @@ private:
|
||||
Vector3f _prev_delta_ang_bias_var{}; ///< saved delta angle XYZ bias variances (rad/sec)
|
||||
Vector3f _prev_dvel_bias_var{}; ///< saved delta velocity XYZ bias variances (m/sec)**2
|
||||
|
||||
// Terrain height state estimation
|
||||
float _terrain_vpos{0.0f}; ///< estimated vertical position of the terrain underneath the vehicle in local NED frame (m)
|
||||
float _terrain_var{1e4f}; ///< variance of terrain position estimate (m**2)
|
||||
uint8_t _terrain_vpos_reset_counter{0}; ///< number of times _terrain_vpos has been reset
|
||||
uint64_t _time_last_hagl_fuse{0}; ///< last system time that a range sample was fused by the terrain estimator
|
||||
terrain_fusion_status_u _hagl_sensor_status{}; ///< Struct indicating type of sensor used to estimate height above ground
|
||||
|
||||
// height sensor status
|
||||
bool _baro_hgt_faulty{false}; ///< true if baro data have been declared faulty TODO: move to fault flags
|
||||
bool _gps_intermittent{true}; ///< true if data into the buffer is intermittent
|
||||
@@ -829,16 +843,19 @@ private:
|
||||
void fuseVelocity(estimator_aid_source2d_s &vel_aid_src);
|
||||
void fuseVelocity(estimator_aid_source3d_s &vel_aid_src);
|
||||
|
||||
// calculate optical flow body angular rate compensation
|
||||
// returns false if bias corrected body rate data is unavailable
|
||||
bool calcOptFlowBodyRateComp();
|
||||
#if defined(CONFIG_EKF2_RANGE_FINDER)
|
||||
// range height
|
||||
void controlRangeHeightFusion();
|
||||
bool isConditionalRangeAidSuitable();
|
||||
void stopRngHgtFusion();
|
||||
|
||||
// initialise the terrain vertical position estimator
|
||||
// terrain vertical position estimator
|
||||
void initHagl();
|
||||
|
||||
void runTerrainEstimator(const imuSample &imu_delayed);
|
||||
void predictHagl(const imuSample &imu_delayed);
|
||||
|
||||
float getTerrainVPos() const { return isTerrainEstimateValid() ? _terrain_vpos : _last_on_ground_posD; }
|
||||
|
||||
// update the terrain vertical position estimate using a height above ground measurement from the range finder
|
||||
void controlHaglRngFusion();
|
||||
void fuseHaglRng();
|
||||
@@ -848,22 +865,37 @@ private:
|
||||
void stopHaglRngFusion();
|
||||
float getRngVar();
|
||||
|
||||
void controlHaglFakeFusion();
|
||||
#endif // CONFIG_EKF2_RANGE_FINDER
|
||||
|
||||
#if defined(CONFIG_EKF2_OPTICAL_FLOW)
|
||||
// update the terrain vertical position estimate using an optical flow measurement
|
||||
void controlHaglFlowFusion();
|
||||
void startHaglFlowFusion();
|
||||
void resetHaglFlow();
|
||||
void stopHaglFlowFusion();
|
||||
void fuseFlowForTerrain(estimator_aid_source2d_s &flow);
|
||||
// control fusion of optical flow observations
|
||||
void controlOpticalFlowFusion(const imuSample &imu_delayed);
|
||||
void stopFlowFusion();
|
||||
|
||||
void updateOnGroundMotionForOpticalFlowChecks();
|
||||
void resetOnGroundMotionForOpticalFlowChecks();
|
||||
|
||||
// calculate the measurement variance for the optical flow sensor
|
||||
float calcOptFlowMeasVar(const flowSample &flow_sample);
|
||||
|
||||
// calculate optical flow body angular rate compensation
|
||||
// returns false if bias corrected body rate data is unavailable
|
||||
bool calcOptFlowBodyRateComp();
|
||||
|
||||
// fuse optical flow line of sight rate measurements
|
||||
void updateOptFlow(estimator_aid_source2d_s &aid_src);
|
||||
void fuseOptFlow();
|
||||
float predictFlowRange();
|
||||
Vector2f predictFlowVelBody();
|
||||
#endif // CONFIG_EKF2_OPTICAL_FLOW
|
||||
|
||||
void controlHaglFakeFusion();
|
||||
// update the terrain vertical position estimate using an optical flow measurement
|
||||
void controlHaglFlowFusion();
|
||||
void startHaglFlowFusion();
|
||||
void resetHaglFlow();
|
||||
void stopHaglFlowFusion();
|
||||
void fuseFlowForTerrain(estimator_aid_source2d_s &flow);
|
||||
#endif // CONFIG_EKF2_OPTICAL_FLOW
|
||||
|
||||
// reset the heading and magnetic field states using the declination and magnetometer measurements
|
||||
// return true if successful
|
||||
@@ -981,11 +1013,6 @@ private:
|
||||
void stopEvYawFusion();
|
||||
#endif // CONFIG_EKF2_EXTERNAL_VISION
|
||||
|
||||
// control fusion of optical flow observations
|
||||
void controlOpticalFlowFusion(const imuSample &imu_delayed);
|
||||
void updateOnGroundMotionForOpticalFlowChecks();
|
||||
void resetOnGroundMotionForOpticalFlowChecks();
|
||||
|
||||
// control fusion of GPS observations
|
||||
void controlGpsFusion(const imuSample &imu_delayed);
|
||||
bool shouldResetGpsFusion() const;
|
||||
@@ -994,8 +1021,6 @@ private:
|
||||
// control fusion of magnetometer observations
|
||||
void controlMagFusion();
|
||||
|
||||
float getTerrainVPos() const { return isTerrainEstimateValid() ? _terrain_vpos : _last_on_ground_posD; }
|
||||
|
||||
bool magReset();
|
||||
bool haglYawResetReq();
|
||||
|
||||
@@ -1038,9 +1063,6 @@ private:
|
||||
void checkHeightSensorRefFallback();
|
||||
void controlBaroHeightFusion();
|
||||
void controlGnssHeightFusion(const gpsSample &gps_sample);
|
||||
void controlRangeHeightFusion();
|
||||
|
||||
bool isConditionalRangeAidSuitable();
|
||||
|
||||
void stopMagFusion();
|
||||
void stopMag3DFusion();
|
||||
@@ -1050,16 +1072,12 @@ private:
|
||||
|
||||
void stopBaroHgtFusion();
|
||||
void stopGpsHgtFusion();
|
||||
void stopRngHgtFusion();
|
||||
|
||||
void updateGroundEffect();
|
||||
|
||||
// gravity fusion: heuristically enable / disable gravity fusion
|
||||
void controlGravityFusion(const imuSample &imu_delayed);
|
||||
|
||||
// calculate the measurement variance for the optical flow sensor
|
||||
float calcOptFlowMeasVar(const flowSample &flow_sample);
|
||||
|
||||
// initialise the quaternion covariances using rotation vector variances
|
||||
// do not call before quaternion states are initialised
|
||||
void initialiseQuatCovariances(Vector3f &rot_vec_var);
|
||||
@@ -1075,9 +1093,6 @@ private:
|
||||
void resetWind();
|
||||
void resetWindToZero();
|
||||
|
||||
// check that the range finder data is continuous
|
||||
void updateRangeDataContinuity();
|
||||
|
||||
// Increase the yaw error variance of the quaternions
|
||||
// Argument is additional yaw variance in rad**2
|
||||
void increaseQuatYawErrVariance(float yaw_variance);
|
||||
@@ -1116,8 +1131,6 @@ private:
|
||||
void stopGpsPosFusion();
|
||||
void stopGpsVelFusion();
|
||||
|
||||
void stopFlowFusion();
|
||||
|
||||
void resetFakePosFusion();
|
||||
void stopFakePosFusion();
|
||||
|
||||
@@ -1138,7 +1151,6 @@ private:
|
||||
|
||||
HeightBiasEstimator _baro_b_est{HeightSensor::BARO, _height_sensor_ref};
|
||||
HeightBiasEstimator _gps_hgt_b_est{HeightSensor::GNSS, _height_sensor_ref};
|
||||
HeightBiasEstimator _rng_hgt_b_est{HeightSensor::RANGE, _height_sensor_ref};
|
||||
|
||||
#if defined(CONFIG_EKF2_EXTERNAL_VISION)
|
||||
HeightBiasEstimator _ev_hgt_b_est{HeightSensor::EV, _height_sensor_ref};
|
||||
|
||||
Reference in New Issue
Block a user