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ekf2: implement multi-instance AGP fusion

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- Refactor aux_global_position into manager + per-source AgpSource class
- Support up to 4 independent AGP sources simultaneously
- Dynamic parameter lookup without boilerplate switch statements
- Per-source state tracking and fusion logic
- Update simulator to use new AuxGlobalPosition message
This commit is contained in:
Marco Hauswirth
2026-02-12 16:10:31 +01:00
parent 527c88b9b9
commit 4bc5875400
11 changed files with 590 additions and 231 deletions
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src/modules/ekf2/EKF/ekf.h
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@@ -435,6 +435,7 @@ public:
void updateParameters();
friend class AuxGlobalPosition;
friend class AgpSource;
private: