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ekf2: publish GNSS, rng and EV height biases

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bresch
2022-08-03 10:33:39 +02:00
committed by Daniel Agar
parent 6833c7e311
commit aba2eac0df
7 changed files with 85 additions and 13 deletions
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msg/CMakeLists.txt
+1 -1
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@@ -70,7 +70,7 @@ set(msg_files
estimator_aid_source_1d.msg
estimator_aid_source_2d.msg
estimator_aid_source_3d.msg
estimator_baro_bias.msg
estimator_bias.msg
estimator_event_flags.msg
estimator_gps_status.msg
estimator_innovations.msg
msg/estimator_baro_bias.msg → msg/estimator_bias.msg
+3
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@@ -8,3 +8,6 @@ float32 bias_var # estimated barometric altitude bias variance (m^2)
float32 innov # innovation of the last measurement fusion (m)
float32 innov_var # innovation variance of the last measurement fusion (m^2)
float32 innov_test_ratio # normalized innovation squared test ratio
# TOPICS estimator_bias
# TOPICS estimator_baro_bias estimator_gnss_hgt_bias estimator_rng_hgt_bias estimator_ev_hgt_bias