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Merge pull request #312 from PX4/pr-ekfExtVisQuat

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EKF: Enable operation with arbitrary External Vision reference frame
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Paul Riseborough
2017-11-12 08:35:39 +11:00
committed by GitHub
parent 368248fe6d 5fd006ca48
commit 7852c0ed03
7 changed files with 243 additions and 82 deletions
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EKF/common.h
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@@ -174,6 +174,7 @@ struct dragSample {
#define MASK_USE_EVPOS (1<<3) ///< set to true to use external vision NED position data
#define MASK_USE_EVYAW (1<<4) ///< set to true to use exernal vision quaternion data for yaw
#define MASK_USE_DRAG (1<<5) ///< set to true to use the multi-rotor drag model to estimate wind
#define MASK_ROTATE_EV (1<<6) ///< set to true to if the EV observations are in a non NED reference frame and need to be rotated before being used
// Integer definitions for mag_fusion_type
#define MAG_FUSE_TYPE_AUTO 0 ///< The selection of either heading or 3D magnetometer fusion will be automatic