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ekf2: add vertical dead-reckoning timeout check for height validity

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bresch
2022-09-29 14:16:36 -04:00
committed by Daniel Agar
parent da99387215
commit bb790c9bec
5 changed files with 57 additions and 16 deletions
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src/modules/ekf2/EKF/estimator_interface.h
+3 -1
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@@ -349,7 +349,9 @@ protected:
Vector2f _drag_test_ratio{}; // drag innovation consistency check ratio
innovation_fault_status_u _innov_check_fail_status{};
bool _deadreckon_time_exceeded{true}; // true if the horizontal nav solution has been deadreckoning for too long and is invalid
bool _horizontal_deadreckon_time_exceeded{true};
bool _vertical_position_deadreckon_time_exceeded{true};
bool _vertical_velocity_deadreckon_time_exceeded{true};
float _gps_horizontal_position_drift_rate_m_s{NAN}; // Horizontal position drift rate (m/s)
float _gps_vertical_position_drift_rate_m_s{NAN}; // Vertical position drift rate (m/s)