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ekf2: move EV vel to new state machine, introduce EKF2_EV_CTRL param

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Daniel Agar
2022-10-27 11:30:19 -04:00
parent 688dae1108
commit 5239993c88
18 changed files with 406 additions and 184 deletions
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src/modules/ekf2/EKF/estimator_interface.cpp
+1 -1
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@@ -496,7 +496,7 @@ bool EstimatorInterface::initialise_interface(uint64_t timestamp)
max_time_delay_ms = math::max(_params.flow_delay_ms, max_time_delay_ms);
}
if (_params.fusion_mode & (SensorFusionMask::USE_EXT_VIS_POS | SensorFusionMask::USE_EXT_VIS_YAW | SensorFusionMask::USE_EXT_VIS_VEL)) {
if ((_params.fusion_mode & (SensorFusionMask::USE_EXT_VIS_POS | SensorFusionMask::USE_EXT_VIS_YAW)) || (_params.ev_ctrl & static_cast<int32_t>(EvCtrl::VEL))) {
max_time_delay_ms = math::max(_params.ev_delay_ms, max_time_delay_ms);
}