fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 02:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: add kconfig option to enable/disable range finder fusion (and terrain estimator)

Browse Source
This commit is contained in:
Daniel Agar
2023-03-21 11:25:34 -04:00
parent 0784901a66
commit 32a5bd32ad
17 changed files with 343 additions and 173 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF/height_control.cpp
+4
View File
@@ -45,7 +45,9 @@ void Ekf::controlHeightFusion(const imuSample &imu_delayed)
controlBaroHeightFusion();
controlGnssHeightFusion(_gps_sample_delayed);
#if defined(CONFIG_EKF2_RANGE_FINDER)
controlRangeHeightFusion();
#endif // CONFIG_EKF2_RANGE_FINDER
checkHeightSensorRefFallback();
}
@@ -185,9 +187,11 @@ Likelihood Ekf::estimateInertialNavFallingLikelihood() const
checks[2] = {ReferenceType::GNSS, _aid_src_gnss_vel.innovation[2], _aid_src_gnss_vel.innovation_variance[2]};
}
#if defined(CONFIG_EKF2_RANGE_FINDER)
if (_control_status.flags.rng_hgt) {
checks[3] = {ReferenceType::GROUND, _aid_src_rng_hgt.innovation, _aid_src_rng_hgt.innovation_variance};
}
#endif // CONFIG_EKF2_RANGE_FINDER
#if defined(CONFIG_EKF2_EXTERNAL_VISION)
if (_control_status.flags.ev_hgt) {