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ekf2: move GPS control logic to separate source file

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bresch
2021-11-01 13:59:34 +01:00
committed by Mathieu Bresciani
parent 689ab12845
commit 8aae39e82a
6 changed files with 271 additions and 197 deletions
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src/modules/ekf2/EKF/ekf.h
+6 -4
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@@ -662,7 +662,6 @@ private:
Vector3f &innov_var, Vector2f &test_ratio);
void fuseGpsVelPos();
bool isVelStateAlignedWithObs() const;
// calculate optical flow body angular rate compensation
// returns false if bias corrected body rate data is unavailable
@@ -805,10 +804,13 @@ private:
// control fusion of GPS observations
void controlGpsFusion();
void controlGpsYawFusion(bool gps_checks_passing, bool gps_checks_failing);
bool shouldResetGpsFusion() const;
bool hasHorizontalAidingTimedOut() const;
bool isRecentTakeoff() const;
bool isVelStateAlignedWithObs() const;
void processYawEstimatorResetRequest();
void processVelPosResetRequest();
void controlGpsYawFusion(bool gps_checks_passing, bool gps_checks_failing);
// control fusion of magnetometer observations
void controlMagFusion();