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EKF: add baro bias estimator using GNSS altitude

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This commit is contained in:
bresch
2021-07-19 16:53:45 -04:00
committed by Daniel Agar
parent 10f4fc7783
commit 54c7e74de3
13 changed files with 337 additions and 2 deletions
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src/modules/ekf2/EKF2.hpp
+3
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@@ -62,6 +62,7 @@
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/SubscriptionMultiArray.hpp>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/baro_bias_estimate.h>
#include <uORB/topics/distance_sensor.h>
#include <uORB/topics/ekf2_timestamps.h>
#include <uORB/topics/ekf_gps_drift.h>
@@ -129,6 +130,7 @@ private:
void Run() override;
void PublishAttitude(const hrt_abstime &timestamp);
void PublishBaroBiasEstimate(const hrt_abstime &timestamp);
void PublishEkfDriftMetrics(const hrt_abstime &timestamp);
void PublishEventFlags(const hrt_abstime &timestamp);
void PublishGlobalPosition(const hrt_abstime &timestamp);
@@ -256,6 +258,7 @@ private:
uint32_t _filter_warning_event_changes{0};
uint32_t _filter_information_event_changes{0};
uORB::PublicationMulti<baro_bias_estimate_s> _baro_bias_estimate_pub{ORB_ID(baro_bias_estimate)};
uORB::PublicationMulti<ekf2_timestamps_s> _ekf2_timestamps_pub{ORB_ID(ekf2_timestamps)};
uORB::PublicationMulti<ekf_gps_drift_s> _ekf_gps_drift_pub{ORB_ID(ekf_gps_drift)};
uORB::PublicationMulti<estimator_innovations_s> _estimator_innovation_test_ratios_pub{ORB_ID(estimator_innovation_test_ratios)};