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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/logger/logged_topics.cpp
+2
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@@ -181,6 +181,7 @@ void LoggedTopics::add_default_topics()
// add_optional_topic_multi("estimator_aid_src_airspeed", 100, MAX_ESTIMATOR_INSTANCES);
// add_optional_topic_multi("estimator_aid_src_baro_hgt", 100, MAX_ESTIMATOR_INSTANCES);
// add_optional_topic_multi("estimator_aid_src_rng_hgt", 100, MAX_ESTIMATOR_INSTANCES);
// add_optional_topic_multi("estimator_aid_src_fake_hgt", 100, MAX_ESTIMATOR_INSTANCES);
// add_optional_topic_multi("estimator_aid_src_fake_pos", 100, MAX_ESTIMATOR_INSTANCES);
// add_optional_topic_multi("estimator_aid_src_gnss_yaw", 100, MAX_ESTIMATOR_INSTANCES);
// add_optional_topic_multi("estimator_aid_src_gnss_vel", 100, MAX_ESTIMATOR_INSTANCES);
@@ -264,6 +265,7 @@ void LoggedTopics::add_default_topics()
add_optional_topic_multi("estimator_aid_src_airspeed", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_baro_hgt", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_rng_hgt", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_fake_hgt", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_fake_pos", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_gnss_yaw", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_gnss_vel", 0, MAX_ESTIMATOR_INSTANCES);