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ekf2: add terrain state

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bresch
2024-06-26 11:05:38 +02:00
committed by Silvan Fuhrer
parent 09f066a73a
commit 68980b59e2
53 changed files with 1936 additions and 1930 deletions
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msg/EstimatorAidSource1d.msg
-1
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@@ -25,4 +25,3 @@ bool fused # true if the sample was successfully fused
# TOPICS estimator_aid_src_airspeed estimator_aid_src_sideslip
# TOPICS estimator_aid_src_fake_hgt
# TOPICS estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw
# TOPICS estimator_aid_src_terrain_range_finder
msg/EstimatorAidSource2d.msg
+1 -1
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@@ -22,5 +22,5 @@ bool innovation_rejected # true if the observation has been rejected
bool fused # true if the sample was successfully fused
# TOPICS estimator_aid_src_ev_pos estimator_aid_src_fake_pos estimator_aid_src_gnss_pos estimator_aid_src_aux_global_position
# TOPICS estimator_aid_src_aux_vel estimator_aid_src_optical_flow estimator_aid_src_terrain_optical_flow
# TOPICS estimator_aid_src_aux_vel estimator_aid_src_optical_flow
# TOPICS estimator_aid_src_drag
msg/EstimatorBias.msg
+1 -1
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@@ -9,4 +9,4 @@ float32 innov # innovation of the last measurement fusion (m)
float32 innov_var # innovation variance of the last measurement fusion (m^2)
float32 innov_test_ratio # normalized innovation squared test ratio
# TOPICS estimator_baro_bias estimator_gnss_hgt_bias estimator_rng_hgt_bias
# TOPICS estimator_baro_bias estimator_gnss_hgt_bias
msg/EstimatorInnovations.msg
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@@ -22,7 +22,6 @@ float32[2] aux_hvel # horizontal auxiliary velocity innovation from landing targ
# Optical flow
float32[2] flow # flow innvoation (rad/sec) and innovation variance ((rad/sec)**2)
float32[2] terr_flow # flow innvoation (rad/sec) and innovation variance computed by the terrain estimator ((rad/sec)**2)
# Various
float32 heading # heading innovation (rad) and innovation variance (rad**2)
msg/EstimatorStates.msg
+2 -2
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@@ -1,7 +1,7 @@
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
float32[24] states # Internal filter states
float32[25] states # Internal filter states
uint8 n_states # Number of states effectively used
float32[23] covariances # Diagonal Elements of Covariance Matrix
float32[24] covariances # Diagonal Elements of Covariance Matrix