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ekf2: verify parameter configuration for height sources

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bresch
2022-08-12 16:17:18 +02:00
committed by Daniel Agar
parent 8dd5d0d1a3
commit a2a29ba0dd
3 changed files with 70 additions and 2 deletions
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src/modules/ekf2/EKF/common.h
+2 -2
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@@ -128,14 +128,14 @@ enum RngCtrl : uint8_t {
enum SensorFusionMask : uint16_t {
// Bit locations for fusion_mode
/* USE_GPS = (1<<0), ///< set to true to use GPS data */
DEPRECATED_USE_GPS = (1<<0), ///< set to true to use GPS data (DEPRECATED, use gnss_ctrl)
USE_OPT_FLOW = (1<<1), ///< set to true to use optical flow data
INHIBIT_ACC_BIAS = (1<<2), ///< set to true to inhibit estimation of accelerometer delta velocity bias
USE_EXT_VIS_POS = (1<<3), ///< set to true to use external vision position data
USE_EXT_VIS_YAW = (1<<4), ///< set to true to use external vision quaternion data for yaw
USE_DRAG = (1<<5), ///< set to true to use the multi-rotor drag model to estimate wind
ROTATE_EXT_VIS = (1<<6), ///< set to true to if the EV observations are in a non NED reference frame and need to be rotated before being used
/* USE_GPS_YAW = (1<<7), ///< set to true to use GPS yaw data if available */
DEPRECATED_USE_GPS_YAW = (1<<7),///< set to true to use GPS yaw data if available (DEPRECATED, use gnss_ctrl)
USE_EXT_VIS_VEL = (1<<8), ///< set to true to use external vision velocity data
};