fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-18 05:43:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2 airspeed fusion:

Browse Source 
- finished logic for fusion
- fixed bug where previous control status was set in the wrong location
This commit is contained in:
Roman Bapst
2016-04-19 09:53:31 +02:00
parent 60abf07bee
commit 99fc61c27c
8 changed files with 172 additions and 83 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/estimator_interface.h
+3 -2
View File
@@ -117,7 +117,7 @@ public:
virtual bool collect_baro(uint64_t time_usec, float *data) { return true; }
virtual bool collect_airspeed(uint64_t time_usec, float *data) { return true; }
virtual bool collect_airspeed(uint64_t time_usec, float *true_airspeed, float *eas2tas) { return true; }
virtual bool collect_range(uint64_t time_usec, float *data) { return true; }
@@ -137,7 +137,7 @@ public:
void setBaroData(uint64_t time_usec, float *data);
// set airspeed data
void setAirspeedData(uint64_t time_usec, float *data);
void setAirspeedData(uint64_t time_usec, float *true_airspeed, float *eas2tas);
// set range data
void setRangeData(uint64_t time_usec, float *data);
@@ -250,6 +250,7 @@ protected:
struct map_projection_reference_s _pos_ref = {}; // Contains WGS-84 position latitude and longitude (radians)
bool _mag_healthy; // computed by mag innovation test
float _airspeed_healthy; // computed by airspeed innovation test
float _yaw_test_ratio; // yaw innovation consistency check ratio
float _mag_test_ratio[3]; // magnetometer XYZ innovation consistency check ratios
float _vel_pos_test_ratio[6]; // velocity and position innovation consistency check ratios