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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
2022-10-12 09:55:35 -04:00
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.hpp
+2
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@@ -262,6 +262,7 @@ private:
hrt_abstime _last_gps_status_published{0};
hrt_abstime _status_airspeed_pub_last{0};
hrt_abstime _status_sideslip_pub_last{0};
hrt_abstime _status_baro_hgt_pub_last{0};
hrt_abstime _status_rng_hgt_pub_last{0};
@@ -349,6 +350,7 @@ private:
uORB::PublicationMulti<estimator_aid_source_1d_s> _estimator_aid_src_airspeed_pub{ORB_ID(estimator_aid_src_airspeed)};
uORB::PublicationMulti<estimator_aid_source_1d_s> _estimator_aid_src_baro_hgt_pub{ORB_ID(estimator_aid_src_baro_hgt)};
uORB::PublicationMulti<estimator_aid_source_1d_s> _estimator_aid_src_rng_hgt_pub{ORB_ID(estimator_aid_src_rng_hgt)};
uORB::PublicationMulti<estimator_aid_source_1d_s> _estimator_aid_src_sideslip_pub{ORB_ID(estimator_aid_src_sideslip)};
uORB::PublicationMulti<estimator_aid_source_1d_s> _estimator_aid_src_fake_hgt_pub{ORB_ID(estimator_aid_src_fake_hgt)};
uORB::PublicationMulti<estimator_aid_source_2d_s> _estimator_aid_src_fake_pos_pub{ORB_ID(estimator_aid_src_fake_pos)};