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ekf2: update EV height state machine (small piece of EV overhaul)

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- respect new EKF2_EV_CTRL parameter for VPOS usage
  - EV hgt rotate EV position before usage (there's often a small offset in frames)
  - EV hgt reset use proper EV velocity body frame
  - try to keep EV hgt and EV vel state machines consistent
  - small incremental piece of https://github.com/PX4/PX4-Autopilot/pull/19128
This commit is contained in:
Daniel Agar
2022-12-13 13:29:18 -05:00
committed by GitHub
parent 805ffa9d0b
commit 696eeb9a49
12 changed files with 149 additions and 111 deletions
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src/modules/ekf2/EKF/common.h
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@@ -380,6 +380,7 @@ struct parameters {
// vision position fusion
float ev_vel_noise{0.1f}; ///< minimum allowed observation noise for EV velocity fusion (m/sec)
float ev_pos_noise{0.1f}; ///< minimum allowed observation noise for EV position fusion (m)
float ev_att_noise{0.1f}; ///< minimum allowed observation noise for EV attitude fusion (rad/sec)
int32_t ev_quality_minimum{0}; ///< vision minimum acceptable quality integer
float ev_vel_innov_gate{3.0f}; ///< vision velocity fusion innovation consistency gate size (STD)