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ekf2: migrate sideslip fusion to SymForce

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- split fusion into update (compute innov and innov_var) and actual fusion to the state vector
- use estimator_aid_source_1d struct to group the data
This commit is contained in:
bresch
2022-10-05 15:23:03 +02:00
committed by Daniel Agar
parent c09be0f0ac
commit 5f54f6fcda
13 changed files with 441 additions and 163 deletions
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src/modules/ekf2/EKF2.cpp
+3
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@@ -714,6 +714,9 @@ void EKF2::PublishAidSourceStatus(const hrt_abstime &timestamp)
// airspeed
PublishAidSourceStatus(_ekf.aid_src_airspeed(), _status_airspeed_pub_last, _estimator_aid_src_airspeed_pub);
// sideslip
PublishAidSourceStatus(_ekf.aid_src_sideslip(), _status_sideslip_pub_last, _estimator_aid_src_sideslip_pub);
// baro height
PublishAidSourceStatus(_ekf.aid_src_baro_hgt(), _status_baro_hgt_pub_last, _estimator_aid_src_baro_hgt_pub);