ekf2: add OF estimator aid src status

This commit is contained in:
Daniel Agar
2022-10-18 14:19:16 -04:00
parent 75c63aee2a
commit 535415a537
15 changed files with 471 additions and 377 deletions
@@ -342,7 +342,6 @@ protected:
// innovation consistency check monitoring ratios
AlphaFilter<float> _gnss_yaw_signed_test_ratio_lpf{0.1f}; // average signed test ratio used to detect a bias in the state
float _optflow_test_ratio{}; // Optical flow innovation consistency check ratio
float _hagl_test_ratio{}; // height above terrain measurement innovation consistency check ratio
Vector2f _drag_test_ratio{}; // drag innovation consistency check ratio
innovation_fault_status_u _innov_check_fail_status{};