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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/estimator_interface.h
+1 -3
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@@ -329,10 +329,8 @@ protected:
// innovation consistency check monitoring ratios
float _yaw_test_ratio{}; // yaw innovation consistency check ratio
AlphaFilter<float>_yaw_signed_test_ratio_lpf{0.1f}; // average signed test ratio used to detect a bias in the state
AlphaFilter<float> _yaw_signed_test_ratio_lpf{0.1f}; // average signed test ratio used to detect a bias in the state
Vector3f _mag_test_ratio{}; // magnetometer XYZ innovation consistency check ratios
Vector2f _gps_vel_test_ratio{}; // GPS velocity innovation consistency check ratios
Vector2f _gps_pos_test_ratio{}; // GPS position innovation consistency check ratios
Vector2f _ev_vel_test_ratio{}; // EV velocity innovation consistency check ratios
Vector2f _ev_pos_test_ratio{}; // EV position innovation consistency check ratios
Vector2f _aux_vel_test_ratio{}; // Auxiliary horizontal velocity innovation consistency check ratio