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ekf2: gravity fusion updates

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- only fuse gravity if no horizontal aiding source is enabled
 - add estimator_aid_src_gravity for inspection and logging
 - estimator_aid_src_gravity is always updated and published, even if not fused
 - add innovation gate with conservative default (could be made configurable)
 - use new EKF2_IMU_CTRL parameter to enable/disable gravity vector fusion
This commit is contained in:
Daniel Agar
2023-02-03 11:48:07 -05:00
parent f565e5767c
commit 4a111d679d
11 changed files with 75 additions and 46 deletions
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msg/EstimatorAidSource3d.msg
+1 -3
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@@ -18,6 +18,4 @@ bool fusion_enabled # true when measurements are being fused
bool innovation_rejected # true if the observation has been rejected
bool fused # true if the sample was successfully fused
# TOPICS estimator_aid_src_ev_vel
# TOPICS estimator_aid_src_gnss_vel
# TOPICS estimator_aid_src_mag
# TOPICS estimator_aid_src_ev_vel estimator_aid_src_gnss_vel estimator_aid_src_gravity estimator_aid_src_mag
msg/EstimatorStatusFlags.msg
+1
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@@ -38,6 +38,7 @@ bool cs_wind_dead_reckoning # 30 - true if we are navigationg reliant on win
bool cs_rng_kin_consistent # 31 - true when the range finder kinematic consistency check is passing
bool cs_fake_pos # 32 - true when fake position measurements are being fused
bool cs_fake_hgt # 33 - true when fake height measurements are being fused
bool cs_gravity_vector # 34 - true when gravity vector measurements are being fused
# fault status
uint32 fault_status_changes # number of filter fault status (fs) changes