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

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Daniel Agar
2022-11-08 11:46:41 -05:00
parent 688dae1108
commit 5239993c88
18 changed files with 406 additions and 184 deletions
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src/modules/ekf2/EKF2.hpp
+3 -2
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@@ -520,14 +520,15 @@ private:
_param_ekf2_rng_k_gate, ///< range finder kinematic consistency gate size (STD)
// vision estimate fusion
(ParamExtInt<px4::params::EKF2_EV_CTRL>) _param_ekf2_ev_ctrl, ///< external vision (EV) control selection
(ParamInt<px4::params::EKF2_EV_NOISE_MD>)
_param_ekf2_ev_noise_md, ///< determine source of vision observation noise
(ParamExtInt<px4::params::EKF2_EV_QMIN>) _param_ekf2_ev_qmin,
(ParamFloat<px4::params::EKF2_EVP_NOISE>)
_param_ekf2_evp_noise, ///< default position observation noise for exernal vision measurements (m)
(ParamFloat<px4::params::EKF2_EVV_NOISE>)
(ParamExtFloat<px4::params::EKF2_EVV_NOISE>)
_param_ekf2_evv_noise, ///< default velocity observation noise for exernal vision measurements (m/s)
(ParamFloat<px4::params::EKF2_EVA_NOISE>)
(ParamExtFloat<px4::params::EKF2_EVA_NOISE>)
_param_ekf2_eva_noise, ///< default angular observation noise for exernal vision measurements (rad)
(ParamExtFloat<px4::params::EKF2_EVV_GATE>)
_param_ekf2_evv_gate, ///< external vision velocity innovation consistency gate size (STD)