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ekf2: add kconfig option to enable/disable GNSS yaw

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This commit is contained in:
Daniel Agar
2023-03-20 10:12:17 -04:00
parent 8b2205810b
commit 98ff1afc19
13 changed files with 142 additions and 65 deletions
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src/modules/ekf2/EKF/ekf_helper.cpp
+13 -10
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@@ -619,19 +619,22 @@ void Ekf::get_innovation_test_status(uint16_t &status, float &mag, float &vel, f
status = _innov_check_fail_status.value;
// return the largest magnetometer innovation test ratio
mag = 0.f;
if (_control_status.flags.mag_hdg) {
mag = sqrtf(_aid_src_mag_heading.test_ratio);
} else if (_control_status.flags.mag_3D) {
mag = sqrtf(Vector3f(_aid_src_mag.test_ratio).max());
} else if (_control_status.flags.gps_yaw) {
mag = sqrtf(_aid_src_gnss_yaw.test_ratio);
} else {
mag = NAN;
mag = math::max(mag, sqrtf(_aid_src_mag_heading.test_ratio));
}
if (_control_status.flags.mag_3D) {
mag = math::max(mag, sqrtf(Vector3f(_aid_src_mag.test_ratio).max()));
}
#if defined(CONFIG_EKF2_GNSS_YAW)
if (_control_status.flags.gps_yaw) {
mag = math::max(mag, sqrtf(_aid_src_gnss_yaw.test_ratio));
}
#endif // CONFIG_EKF2_GNSS_YAW
// return the largest velocity and position innovation test ratio
vel = NAN;
pos = NAN;