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ekf2: add AUX velocity aid src status

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- also includes velocity and position helpers for using estimator aid
   source status messages that will later be used for GPS, EV, etc
This commit is contained in:
Daniel Agar
2022-07-29 12:02:31 -04:00
parent a397c09e59
commit 41d9c3dd2a
8 changed files with 146 additions and 30 deletions
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src/modules/ekf2/EKF/estimator_interface.h
-1
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@@ -331,7 +331,6 @@ protected:
AlphaFilter<float> _gnss_yaw_signed_test_ratio_lpf{0.1f}; // average signed test ratio used to detect a bias in the state
Vector2f _ev_vel_test_ratio{}; // EV velocity innovation consistency check ratios
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 _hagl_test_ratio{}; // height above terrain measurement innovation consistency check ratio
float _beta_test_ratio{}; // sideslip innovation consistency check ratio