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EKF: Add position, height and velocity reset for EV aiding

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This commit is contained in:
Paul Riseborough
2016-05-14 21:17:29 +10:00
parent 3a0fcd03d7
commit 81469d6621
5 changed files with 96 additions and 21 deletions
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EKF/ekf.cpp
+6 -2
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@@ -390,7 +390,11 @@ bool Ekf::initialiseFilter(void)
// set the default height source from the adjustable parameter
if (_hgt_counter == 0) {
_primary_hgt_source = _params.vdist_sensor_type;
if (_params.fusion_mode & MASK_USE_EVPOS) {
_primary_hgt_source = VDIST_SENSOR_EV;
} else {
_primary_hgt_source = _params.vdist_sensor_type;
}
}
if (_primary_hgt_source == VDIST_SENSOR_RANGE) {
@@ -409,7 +413,7 @@ bool Ekf::initialiseFilter(void)
}
}
} else if (_primary_hgt_source == VDIST_SENSOR_BARO || _primary_hgt_source == VDIST_SENSOR_GPS) {
} else if (_primary_hgt_source == VDIST_SENSOR_BARO || _primary_hgt_source == VDIST_SENSOR_GPS || _primary_hgt_source == VDIST_SENSOR_EV) {
// if the user parameter specifies use of GPS for height we use baro height initially and switch to GPS
// later when it passes checks.
if (_baro_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_baro_sample_delayed)) {