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Support vision velocity expressed in body frame too (#708)

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* Support vision velocity expressed in body frame

* Use switch statement for vision velocity frame

* Robustify vision velocity frame test

* Increase lower bound on vision velocity noise to 0.05 m/s
This commit is contained in:
kritz
2020-05-12 16:03:35 +02:00
committed by GitHub
parent c3de452e8e
commit 98801ad17b
8 changed files with 170 additions and 37 deletions
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EKF/gps_checks.cpp
+1 -3
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@@ -99,11 +99,9 @@ bool Ekf::collect_gps(const gps_message &gps)
// if the user has selected GPS as the primary height source, switch across to using it
if (_params.vdist_sensor_type == VDIST_SENSOR_GPS) {
ECL_INFO_TIMESTAMPED("GPS checks passed (WGS-84 origin set, using GPS height)");
startGpsHgtFusion();
} else {
ECL_INFO_TIMESTAMPED("GPS checks passed (WGS-84 origin set)");
}
ECL_INFO_TIMESTAMPED("GPS checks passed (WGS-84 origin set)");
}
// start collecting GPS if there is a 3D fix and the NED origin has been set