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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/estimator_interface.cpp
+1 -1
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@@ -542,7 +542,7 @@ bool EstimatorInterface::initialise_interface(uint64_t timestamp)
max_time_delay_ms = math::max(_params.flow_delay_ms, max_time_delay_ms);
}
if ((_params.fusion_mode & (SensorFusionMask::USE_EXT_VIS_POS | SensorFusionMask::USE_EXT_VIS_YAW)) || (_params.ev_ctrl & static_cast<int32_t>(EvCtrl::VEL))) {
if ((_params.fusion_mode & (SensorFusionMask::USE_EXT_VIS_POS | SensorFusionMask::USE_EXT_VIS_YAW)) || (_params.ev_ctrl > 0)) {
max_time_delay_ms = math::max(_params.ev_delay_ms, max_time_delay_ms);
}