ekf2: use dedicated aid_src message for flow for terrain aiding

2026-10-24 11:13:34 +08:00 · 2023-01-21 15:31:19 -05:00
parent b4b48cae75
commit 6e30f8f5cb
8 changed files with 49 additions and 21 deletions
@@ -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)