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ekf2: add kconfig option to enable/disable GNSS yaw

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This commit is contained in:
Daniel Agar
2023-03-14 10:35:21 -04:00
parent 8b2205810b
commit 98ff1afc19
13 changed files with 142 additions and 65 deletions
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src/modules/ekf2/EKF2.cpp
+6
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@@ -264,10 +264,14 @@ bool EKF2::multi_init(int imu, int mag)
_estimator_aid_src_gnss_vel_pub.advertise();
}
#if defined(CONFIG_EKF2_GNSS_YAW)
if (_param_ekf2_gps_ctrl.get() & static_cast<int32_t>(GnssCtrl::YAW)) {
_estimator_aid_src_gnss_yaw_pub.advertise();
}
#endif // CONFIG_EKF2_GNSS_YAW
// RNG advertise
if (_param_ekf2_rng_ctrl.get()) {
_estimator_aid_src_rng_hgt_pub.advertise();
@@ -823,7 +827,9 @@ void EKF2::PublishAidSourceStatus(const hrt_abstime &timestamp)
PublishAidSourceStatus(_ekf.aid_src_gnss_hgt(), _status_gnss_hgt_pub_last, _estimator_aid_src_gnss_hgt_pub);
PublishAidSourceStatus(_ekf.aid_src_gnss_pos(), _status_gnss_pos_pub_last, _estimator_aid_src_gnss_pos_pub);
PublishAidSourceStatus(_ekf.aid_src_gnss_vel(), _status_gnss_vel_pub_last, _estimator_aid_src_gnss_vel_pub);
#if defined(CONFIG_EKF2_GNSS_YAW)
PublishAidSourceStatus(_ekf.aid_src_gnss_yaw(), _status_gnss_yaw_pub_last, _estimator_aid_src_gnss_yaw_pub);
#endif // CONFIG_EKF2_GNSS_YAW
// mag heading
PublishAidSourceStatus(_ekf.aid_src_mag_heading(), _status_mag_heading_pub_last, _estimator_aid_src_mag_heading_pub);