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EKF: Add feature to use the mag to only update the mag states

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This commit is contained in:
CarlOlsson
2017-05-26 11:29:21 +02:00
parent 05c3c46f83
commit be16406b35
4 changed files with 114 additions and 71 deletions
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EKF/common.h
+18 -17
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@@ -377,24 +377,25 @@ union gps_check_fail_status_u {
// bitmask containing filter control status
union filter_control_status_u {
struct {
uint16_t tilt_align : 1; // 0 - true if the filter tilt alignment is complete
uint16_t yaw_align : 1; // 1 - true if the filter yaw alignment is complete
uint16_t gps : 1; // 2 - true if GPS measurements are being fused
uint16_t opt_flow : 1; // 3 - true if optical flow measurements are being fused
uint16_t mag_hdg : 1; // 4 - true if a simple magnetic yaw heading is being fused
uint16_t mag_3D : 1; // 5 - true if 3-axis magnetometer measurement are being fused
uint16_t mag_dec : 1; // 6 - true if synthetic magnetic declination measurements are being fused
uint16_t in_air : 1; // 7 - true when the vehicle is airborne
uint16_t wind : 1; // 8 - true when wind velocity is being estimated
uint16_t baro_hgt : 1; // 9 - true when baro height is being fused as a primary height reference
uint16_t rng_hgt : 1; // 10 - true when range finder height is being fused as a primary height reference
uint16_t gps_hgt : 1; // 11 - true when GPS height is being fused as a primary height reference
uint16_t ev_pos : 1; // 12 - true when local position data from external vision is being fused
uint16_t ev_yaw : 1; // 13 - true when yaw data from external vision measurements is being fused
uint16_t ev_hgt : 1; // 14 - true when height data from external vision measurements is being fused
uint16_t fuse_beta : 1; // 15 - true when synthetic sideslip measurements are being fused
uint32_t tilt_align : 1; // 0 - true if the filter tilt alignment is complete
uint32_t yaw_align : 1; // 1 - true if the filter yaw alignment is complete
uint32_t gps : 1; // 2 - true if GPS measurements are being fused
uint32_t opt_flow : 1; // 3 - true if optical flow measurements are being fused
uint32_t mag_hdg : 1; // 4 - true if a simple magnetic yaw heading is being fused
uint32_t mag_3D : 1; // 5 - true if 3-axis magnetometer measurement are being fused
uint32_t mag_dec : 1; // 6 - true if synthetic magnetic declination measurements are being fused
uint32_t in_air : 1; // 7 - true when the vehicle is airborne
uint32_t wind : 1; // 8 - true when wind velocity is being estimated
uint32_t baro_hgt : 1; // 9 - true when baro height is being fused as a primary height reference
uint32_t rng_hgt : 1; // 10 - true when range finder height is being fused as a primary height reference
uint32_t gps_hgt : 1; // 11 - true when GPS height is being fused as a primary height reference
uint32_t ev_pos : 1; // 12 - true when local position data from external vision is being fused
uint32_t ev_yaw : 1; // 13 - true when yaw data from external vision measurements is being fused
uint32_t ev_hgt : 1; // 14 - true when height data from external vision measurements is being fused
uint32_t fuse_beta : 1; // 15 - true when synthetic sideslip measurements are being fused
uint32_t update_mag_states_only : 1; // 16 - true when only the magnetometer states are updated by the magnetometer
} flags;
uint16_t value;
uint32_t value;
};
union ekf_solution_status {