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ekf2: consider GNSS vel as horizontal velocity aiding

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bresch
2025-03-14 18:22:00 +01:00
committed by Mathieu Bresciani
parent e0d15b7a80
commit 9ac03f03eb
1 changed files with 2 additions and 1 deletions
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src/modules/ekf2/EKF/estimator_interface.cpp
+2 -1
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@@ -624,7 +624,8 @@ int EstimatorInterface::getNumberOfActiveHorizontalPositionAidingSources() const
int EstimatorInterface::getNumberOfActiveHorizontalVelocityAidingSources() const int EstimatorInterface::getNumberOfActiveHorizontalVelocityAidingSources() const
{ {
return int(_control_status.flags.opt_flow) return int(_control_status.flags.gnss_vel)
+ int(_control_status.flags.opt_flow)
+ int(_control_status.flags.ev_vel) + int(_control_status.flags.ev_vel)
// Combined airspeed and sideslip fusion allows sustained wind relative dead reckoning // Combined airspeed and sideslip fusion allows sustained wind relative dead reckoning
// and so is treated as a single aiding source. // and so is treated as a single aiding source.