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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/logger/logged_topics.cpp
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@@ -273,6 +273,7 @@ void LoggedTopics::add_default_topics()
add_optional_topic_multi("estimator_aid_src_mag_heading", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_mag", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_ev_yaw", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_sideslip", 0, MAX_ESTIMATOR_INSTANCES);
#endif /* CONFIG_ARCH_BOARD_PX4_SITL */
}