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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
2022-09-10 12:29:29 -04:00
committed by Daniel Agar
parent aa716936bf
commit a54fa7b9b1
15 changed files with 177 additions and 7 deletions
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src/modules/ekf2/EKF2.hpp
+2
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@@ -263,6 +263,7 @@ private:
hrt_abstime _status_baro_hgt_pub_last{0};
hrt_abstime _status_rng_hgt_pub_last{0};
hrt_abstime _status_fake_hgt_pub_last{0};
hrt_abstime _status_fake_pos_pub_last{0};
hrt_abstime _status_ev_yaw_pub_last{0};
@@ -346,6 +347,7 @@ private:
uORB::PublicationMulti<estimator_aid_source_1d_s> _estimator_aid_src_baro_hgt_pub{ORB_ID(estimator_aid_src_baro_hgt)};
uORB::PublicationMulti<estimator_aid_source_1d_s> _estimator_aid_src_rng_hgt_pub{ORB_ID(estimator_aid_src_rng_hgt)};
uORB::PublicationMulti<estimator_aid_source_1d_s> _estimator_aid_src_fake_hgt_pub{ORB_ID(estimator_aid_src_fake_hgt)};
uORB::PublicationMulti<estimator_aid_source_2d_s> _estimator_aid_src_fake_pos_pub{ORB_ID(estimator_aid_src_fake_pos)};
uORB::PublicationMulti<estimator_aid_source_1d_s> _estimator_aid_src_gnss_yaw_pub{ORB_ID(estimator_aid_src_gnss_yaw)};