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ekf2: use dedicated aid_src message for flow for terrain aiding

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bresch
2023-01-21 15:31:19 -05:00
committed by Daniel Agar
parent b4b48cae75
commit 6e30f8f5cb
8 changed files with 49 additions and 21 deletions
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msg/EstimatorAidSource2d.msg
+1 -1
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@@ -19,4 +19,4 @@ 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
# TOPICS estimator_aid_src_aux_vel estimator_aid_src_optical_flow
# TOPICS estimator_aid_src_aux_vel estimator_aid_src_optical_flow estimator_aid_src_terrain_optical_flow
msg/EstimatorInnovations.msg
+1
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@@ -23,6 +23,7 @@ float32 aux_vvel # vertical auxiliary velocity innovation from landing target
# 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)