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ekf2: add kconfig option to enable/disable external vision fusion

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This commit is contained in:
Daniel Agar
2023-03-20 10:12:17 -04:00
parent d47f96f1a5
commit 4363b09421
17 changed files with 209 additions and 68 deletions
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src/modules/ekf2/EKF/covariance.cpp
+9 -1
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@@ -444,14 +444,22 @@ void Ekf::fixCovarianceErrors(bool force_symmetry)
if (fabsf(down_dvel_bias) > dVel_bias_lim) {
bool bad_vz_gps = _control_status.flags.gps && (down_dvel_bias * _aid_src_gnss_vel.innovation[2] < 0.0f);
#if defined(CONFIG_EKF2_EXTERNAL_VISION)
bool bad_vz_ev = _control_status.flags.ev_vel && (down_dvel_bias * _aid_src_ev_vel.innovation[2] < 0.0f);
#else
bool bad_vz_ev = false;
#endif // CONFIG_EKF2_EXTERNAL_VISION
if (bad_vz_gps || bad_vz_ev) {
bool bad_z_baro = _control_status.flags.baro_hgt && (down_dvel_bias * _aid_src_baro_hgt.innovation < 0.0f);
bool bad_z_gps = _control_status.flags.gps_hgt && (down_dvel_bias * _aid_src_gnss_hgt.innovation < 0.0f);
bool bad_z_rng = _control_status.flags.rng_hgt && (down_dvel_bias * _aid_src_rng_hgt.innovation < 0.0f);
bool bad_z_ev = _control_status.flags.ev_hgt && (down_dvel_bias * _aid_src_ev_hgt.innovation < 0.0f);
#if defined(CONFIG_EKF2_EXTERNAL_VISION)
bool bad_z_ev = _control_status.flags.ev_hgt && (down_dvel_bias * _aid_src_ev_hgt.innovation < 0.0f);
#else
bool bad_z_ev = false;
#endif // CONFIG_EKF2_EXTERNAL_VISION
if (bad_z_baro || bad_z_gps || bad_z_rng || bad_z_ev) {
bad_acc_bias = true;