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ekf2 preflight: only check innovation of active height sources

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This commit is contained in:
bresch
2022-06-07 16:45:34 +02:00
committed by Daniel Agar
parent cb2738e187
commit 4f1091792f
3 changed files with 52 additions and 6 deletions
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src/modules/ekf2/EKF2.cpp
+5
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@@ -877,6 +877,11 @@ void EKF2::PublishInnovations(const hrt_abstime &timestamp)
_preflt_checker.setUsingEvPosAiding(_ekf.control_status_flags().ev_pos);
_preflt_checker.setUsingEvVelAiding(_ekf.control_status_flags().ev_vel);
_preflt_checker.setUsingBaroHgtAiding(_ekf.control_status_flags().baro_hgt);
_preflt_checker.setUsingGpsHgtAiding(_ekf.control_status_flags().gps_hgt);
_preflt_checker.setUsingRngHgtAiding(_ekf.control_status_flags().rng_hgt);
_preflt_checker.setUsingEvHgtAiding(_ekf.control_status_flags().ev_hgt);
_preflt_checker.update(_ekf.get_imu_sample_delayed().delta_ang_dt, innovations);
} else if (_ekf.control_status_flags().in_air != _ekf.control_status_prev_flags().in_air) {