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EKF2: Added gravity innovations for logging.

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Signed-off-by: Daniel M. Sahu <danielmohansahu@gmail.com>
This commit is contained in:
Daniel M. Sahu
2023-02-01 10:30:55 -05:00
parent 3e09d9b678
commit 436f168188
3 changed files with 4 additions and 0 deletions
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src/modules/ekf2/EKF/ekf.h
+2
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@@ -191,6 +191,8 @@ public:
void getHaglRateInnovVar(float &hagl_rate_innov_var) const { hagl_rate_innov_var = _rng_consistency_check.getInnovVar(); }
void getHaglRateInnovRatio(float &hagl_rate_innov_ratio) const { hagl_rate_innov_ratio = _rng_consistency_check.getSignedTestRatioLpf(); }
void getGravInnov(float grav_innov[3]) const { _gravity_innov.copyTo(grav_innov); }
// get the state vector at the delayed time horizon
matrix::Vector<float, 24> getStateAtFusionHorizonAsVector() const;
src/modules/ekf2/EKF2.cpp
+1
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@@ -1077,6 +1077,7 @@ void EKF2::PublishInnovations(const hrt_abstime &timestamp)
_ekf.getHaglInnov(innovations.hagl);
_ekf.getHaglRateInnov(innovations.hagl_rate);
_ekf.getTerrainFlowInnov(innovations.terr_flow);
_ekf.getGravInnov(innovations.gravity);
// Not yet supported
innovations.aux_vvel = NAN;