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ekf2: estimator aid source status (GPS pos, GPS vel)

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Daniel Agar
2022-05-23 16:21:49 -04:00
parent 1ae467e9cd
commit 639222dd65
16 changed files with 813 additions and 628 deletions
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msg/estimator_aid_source_3d.msg
+1
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@@ -19,3 +19,4 @@ bool[3] innovation_rejected # true if the observation has been rejected
bool[3] fused # true if the sample was successfully fused
# TOPICS estimator_aid_source_3d
# TOPICS estimator_aid_src_gnss_pos estimator_aid_src_gnss_vel
msg/estimator_event_flags.msg
+4
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@@ -16,6 +16,10 @@ bool starting_vision_pos_fusion # 9 - true when the filter starts using
bool starting_vision_vel_fusion # 10 - true when the filter starts using vision system velocity measurements to correct the state estimates
bool starting_vision_yaw_fusion # 11 - true when the filter starts using vision system yaw measurements to correct the state estimates
bool yaw_aligned_to_imu_gps # 12 - true when the filter resets the yaw to an estimate derived from IMU and GPS data
bool reset_hgt_to_baro # 13 - true when the vertical position state is reset to the baro measurement
bool reset_hgt_to_gps # 14 - true when the vertical position state is reset to the gps measurement
bool reset_hgt_to_rng # 15 - true when the vertical position state is reset to the rng measurement
bool reset_hgt_to_ev # 16 - true when the vertical position state is reset to the ev measurement
# warning events
uint32 warning_event_changes # number of warning event changes