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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/height_control.cpp
+7 -5
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@@ -166,11 +166,11 @@ Likelihood Ekf::estimateInertialNavFallingLikelihood() const
enum class ReferenceType { PRESSURE, GNSS, GROUND };
struct {
ReferenceType ref_type;
float innov;
float innov_var;
bool failed_min;
bool failed_lim;
ReferenceType ref_type{};
float innov{0.f};
float innov_var{0.f};
bool failed_min{false};
bool failed_lim{false};
} checks[6] {};
if (_control_status.flags.baro_hgt) {
@@ -189,6 +189,7 @@ Likelihood Ekf::estimateInertialNavFallingLikelihood() const
checks[3] = {ReferenceType::GROUND, _aid_src_rng_hgt.innovation, _aid_src_rng_hgt.innovation_variance};
}
#if defined(CONFIG_EKF2_EXTERNAL_VISION)
if (_control_status.flags.ev_hgt) {
checks[4] = {ReferenceType::GROUND, _aid_src_ev_hgt.innovation, _aid_src_ev_hgt.innovation_variance};
}
@@ -196,6 +197,7 @@ Likelihood Ekf::estimateInertialNavFallingLikelihood() const
if (_control_status.flags.ev_vel) {
checks[5] = {ReferenceType::GROUND, _aid_src_ev_vel.innovation[2], _aid_src_ev_vel.innovation_variance[2]};
}
#endif // CONFIG_EKF2_EXTERNAL_VISION
// Compute the check based on innovation ratio for all the sources
for (unsigned i = 0; i < 6; i++) {