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Move GPS blending from ekf2 to sensors module

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- new sensors work item that subscribes to N x sensor_gps and publishes vehicle_gps_position
 - blending is now configurable with SENS_GPS_MASK and SENS_GPS_TAU

Co-authored-by: Jacob Crabill <jacob@volans-i.com>
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
This commit is contained in:
Jacob Dahl
2020-09-25 23:28:31 -04:00
committed by GitHub
co-authored by Jacob Crabill Jacob Dahl
parent e792c46f20
commit a24488328f
27 changed files with 1147 additions and 861 deletions
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src/modules/ekf2/ekf2_params.c
-31
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@@ -1375,37 +1375,6 @@ PARAM_DEFINE_FLOAT(EKF2_ABL_GYRLIM, 3.0f);
*/
PARAM_DEFINE_FLOAT(EKF2_ABL_TAU, 0.5f);
/**
* Multi GPS Blending Control Mask.
*
* Set bits in the following positions to set which GPS accuracy metrics will be used to calculate the blending weight. Set to zero to disable and always used first GPS instance.
* 0 : Set to true to use speed accuracy
* 1 : Set to true to use horizontal position accuracy
* 2 : Set to true to use vertical position accuracy
*
* @group EKF2
* @min 0
* @max 7
* @bit 0 use speed accuracy
* @bit 1 use hpos accuracy
* @bit 2 use vpos accuracy
*/
PARAM_DEFINE_INT32(EKF2_GPS_MASK, 0);
/**
* Multi GPS Blending Time Constant
*
* Sets the longest time constant that will be applied to the calculation of GPS position and height offsets used to correct data from multiple GPS data for steady state position differences.
*
*
* @group EKF2
* @min 1.0
* @max 100.0
* @unit s
* @decimal 1
*/
PARAM_DEFINE_FLOAT(EKF2_GPS_TAU, 10.0f);
/**
* Vehicle movement test threshold
*