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ekf2: add fake height fusion logic

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When there is no vertical aiding, fake height is started to constrain
the vertical channel of the EKF
This commit is contained in:
bresch
2022-08-08 16:55:51 +02:00
committed by Daniel Agar
parent aa716936bf
commit a54fa7b9b1
15 changed files with 177 additions and 7 deletions
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src/modules/ekf2/EKF/estimator_interface.cpp
+5
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@@ -584,6 +584,11 @@ int EstimatorInterface::getNumberOfActiveVerticalPositionAidingSources() const
+ int(_control_status.flags.ev_hgt);
}
bool EstimatorInterface::isVerticalAidingActive() const
{
return isVerticalPositionAidingActive() || isVerticalVelocityAidingActive();
}
bool EstimatorInterface::isVerticalVelocityAidingActive() const
{
return getNumberOfActiveVerticalVelocityAidingSources() > 0;