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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/EKF2.cpp
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@@ -125,6 +125,7 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
_param_ekf2_rng_k_gate(_params->range_kin_consistency_gate),
_param_ekf2_ev_ctrl(_params->ev_ctrl),
_param_ekf2_ev_qmin(_params->ev_quality_minimum),
_param_ekf2_evp_noise(_params->ev_pos_noise),
_param_ekf2_evv_noise(_params->ev_vel_noise),
_param_ekf2_eva_noise(_params->ev_att_noise),
_param_ekf2_evv_gate(_params->ev_vel_innov_gate),