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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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src/modules/ekf2/EKF/common.h
+4
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@@ -550,6 +550,10 @@ union information_event_status_u {
bool starting_vision_vel_fusion : 1; ///< 10 - true when the filter starts using vision system velocity measurements to correct the state estimates
bool starting_vision_yaw_fusion : 1; ///< 11 - true when the filter starts using vision system yaw measurements to correct the state estimates
bool yaw_aligned_to_imu_gps : 1; ///< 12 - true when the filter resets the yaw to an estimate derived from IMU and GPS data
bool reset_hgt_to_baro : 1; ///< 13 - true when the vertical position state is reset to the baro measurement
bool reset_hgt_to_gps : 1; ///< 14 - true when the vertical position state is reset to the gps measurement
bool reset_hgt_to_rng : 1; ///< 15 - true when the vertical position state is reset to the rng measurement
bool reset_hgt_to_ev : 1; ///< 16 - true when the vertical position state is reset to the ev measurement
} flags;
uint32_t value;
};