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WIP: ekf2 add new initial heading parameter (EKF2_HDG_INIT)

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- used only when all yaw aid sources are disabled
This commit is contained in:
Daniel Agar
2022-04-04 13:14:31 -04:00
parent becffa3441
commit b8315ea72a
12 changed files with 686 additions and 625 deletions
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msg/estimator_event_flags.msg
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@@ -16,6 +16,7 @@ bool starting_vision_pos_fusion # 9 - true when the filter starts using
bool starting_vision_vel_fusion # 10 - true when the filter starts using vision system velocity measurements to correct the state estimates
bool starting_vision_yaw_fusion # 11 - true when the filter starts using vision system yaw measurements to correct the state estimates
bool yaw_aligned_to_imu_gps # 12 - true when the filter resets the yaw to an estimate derived from IMU and GPS data
bool yaw_aligned_to_param # 13 - true when the filter resets the yaw to initial heading parameter
# warning events
uint32 warning_event_changes # number of warning event changes