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WIP: ekf2 filtered innovation hacks

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This commit is contained in:
Daniel Agar
2022-09-13 16:29:38 -04:00
parent 82b28bc72f
commit 32d6081826
20 changed files with 159 additions and 641 deletions
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msg/estimator_status.msg
+1
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@@ -116,6 +116,7 @@ float32 time_slip # cumulative amount of time in seconds that the EKF inertial c
bool pre_flt_fail_innov_heading
bool pre_flt_fail_innov_vel_horiz
bool pre_flt_fail_innov_vel_vert
bool pre_flt_fail_innov_pos_horiz
bool pre_flt_fail_innov_height
bool pre_flt_fail_mag_field_disturbed
msg/estimator_status_flags.msg
+7
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@@ -73,3 +73,10 @@ bool reject_sideslip # 9 - true if the synthetic sideslip
bool reject_hagl # 10 - true if the height above ground observation has been rejected
bool reject_optflow_x # 11 - true if the X optical flow observation has been rejected
bool reject_optflow_y # 12 - true if the Y optical flow observation has been rejected
# preflight failure checks
bool pre_flt_fail_innov_heading
bool pre_flt_fail_innov_vel_horiz
bool pre_flt_fail_innov_vel_vert
bool pre_flt_fail_innov_pos_horiz
bool pre_flt_fail_innov_height