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ekf2: add kconfig option to enable/disable airspeed and sideslip fusion

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This commit is contained in:
Daniel Agar
2023-03-20 10:12:17 -04:00
parent 98ff1afc19
commit 4270a303ab
16 changed files with 218 additions and 83 deletions
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src/modules/ekf2/EKF/estimator_interface.h
+6
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@@ -90,7 +90,9 @@ public:
void setBaroData(const baroSample &baro_sample);
#if defined(CONFIG_EKF2_AIRSPEED)
void setAirspeedData(const airspeedSample &airspeed_sample);
#endif // CONFIG_EKF2_AIRSPEED
void setRangeData(const rangeSample &range_sample);
@@ -291,7 +293,9 @@ protected:
// measurement samples capturing measurements on the delayed time horizon
gpsSample _gps_sample_delayed{};
sensor::SensorRangeFinder _range_sensor{};
#if defined(CONFIG_EKF2_AIRSPEED)
airspeedSample _airspeed_sample_delayed{};
#endif // CONFIG_EKF2_AIRSPEED
flowSample _flow_sample_delayed{};
extVisionSample _ev_sample_prev{};
RangeFinderConsistencyCheck _rng_consistency_check;
@@ -348,7 +352,9 @@ protected:
RingBuffer<magSample> *_mag_buffer{nullptr};
RingBuffer<baroSample> *_baro_buffer{nullptr};
RingBuffer<rangeSample> *_range_buffer{nullptr};
#if defined(CONFIG_EKF2_AIRSPEED)
RingBuffer<airspeedSample> *_airspeed_buffer{nullptr};
#endif // CONFIG_EKF2_AIRSPEED
RingBuffer<flowSample> *_flow_buffer{nullptr};
RingBuffer<extVisionSample> *_ext_vision_buffer{nullptr};
RingBuffer<auxVelSample> *_auxvel_buffer{nullptr};