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ekf2: clean up hagl vs terrain naming

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Terrain is the state: terrain vertical position
Hagl (height above ground level) is the vertical distance between the
vertical position and the terrain vertical position
This commit is contained in:
bresch
2024-06-26 11:05:38 +02:00
committed by Silvan Fuhrer
parent 68980b59e2
commit 9001c23926
9 changed files with 36 additions and 48 deletions
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src/modules/ekf2/EKF/ekf.h
+6 -11
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@@ -807,32 +807,27 @@ private:
bool fuseVelocity(estimator_aid_source3d_s &vel_aid_src);
#if defined(CONFIG_EKF2_TERRAIN)
// terrain vertical position estimator
void initHagl();
void runTerrainEstimator(const imuSample &imu_delayed);
void initTerrain();
float getTerrainVPos() const { return isTerrainEstimateValid() ? _state.terrain : _last_on_ground_posD; }
void controlHaglFakeFusion();
void controlTerrainFakeFusion();
# if defined(CONFIG_EKF2_RANGE_FINDER)
// update the terrain vertical position estimate using a height above ground measurement from the range finder
bool fuseHaglRng(estimator_aid_source1d_s &aid_src, bool update_height, bool update_terrain);
void updateRangeHeight(estimator_aid_source1d_s &aid_src);
void resetHaglRng(estimator_aid_source1d_s &aid_src);
void updateRangeHagl(estimator_aid_source1d_s &aid_src);
void resetTerrainToRng(estimator_aid_source1d_s &aid_src);
float getRngVar() const;
# endif // CONFIG_EKF2_RANGE_FINDER
# if defined(CONFIG_EKF2_OPTICAL_FLOW)
// update the terrain vertical position estimate using an optical flow measurement
void resetHaglFlow();
void resetTerrainToFlow();
# endif // CONFIG_EKF2_OPTICAL_FLOW
#endif // CONFIG_EKF2_TERRAIN
#if defined(CONFIG_EKF2_RANGE_FINDER)
// range height
void controlRangeHeightFusion();
void controlRangeHaglFusion();
bool isConditionalRangeAidSuitable();
void stopRngHgtFusion();
void stopRngTerrFusion();