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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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src/modules/ekf2/EKF/estimator_interface.h
+1 -3
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@@ -258,7 +258,6 @@ public:
const gpsSample &get_gps_sample_delayed() const { return _gps_sample_delayed; }
const rangeSample &get_rng_sample_delayed() { return *(_range_sensor.getSampleAddress()); }
const extVisionSample &get_ev_sample_delayed() const { return _ev_sample_delayed; }
const bool &global_origin_valid() const { return _NED_origin_initialised; }
const MapProjection &global_origin() const { return _pos_ref; }
@@ -305,8 +304,7 @@ protected:
sensor::SensorRangeFinder _range_sensor{};
airspeedSample _airspeed_sample_delayed{};
flowSample _flow_sample_delayed{};
extVisionSample _ev_sample_delayed{};
extVisionSample _ev_sample_delayed_prev{};
extVisionSample _ev_sample_prev{};
dragSample _drag_down_sampled{}; // down sampled drag specific force data (filter prediction rate -> observation rate)
RangeFinderConsistencyCheck _rng_consistency_check;