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ekf2: EV overhaul yaw and position fusion (#20501)

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- move EV yaw and EV position to new state machines
 - EV yaw and EV pos now configured via EKF2_EV_CTRL (migrated from EKF2_AID_MASK)
 - new EV position offset estimator to enable EV position while GPS position is active (no more EV pos delta fusion)
 - yaw_align now strictly means north (no more rotate external vision aid mask)
 - automatic switching between EV yaw, and yaw align north based on GPS quality
This commit is contained in:
Daniel Agar
2022-12-20 10:23:56 -05:00
committed by GitHub
parent 20342216e2
commit 54a32eb2f7
34 changed files with 1019 additions and 553 deletions
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msg/EstimatorBias.msg
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@@ -9,4 +9,4 @@ float32 innov # innovation of the last measurement fusion (m)
float32 innov_var # innovation variance of the last measurement fusion (m^2)
float32 innov_test_ratio # normalized innovation squared test ratio
# TOPICS estimator_baro_bias estimator_gnss_hgt_bias estimator_rng_hgt_bias estimator_ev_hgt_bias
# TOPICS estimator_baro_bias estimator_gnss_hgt_bias estimator_rng_hgt_bias