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EKF2: Adding gravity fusion observation hooks into the EKF.

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Signed-off-by: Daniel M. Sahu <danielmohansahu@gmail.com>
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Daniel M. Sahu
2023-02-01 10:01:20 -05:00
parent 3a50fbbdfd
commit c6e5d516f9
7 changed files with 105 additions and 0 deletions
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src/modules/ekf2/EKF2.cpp
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@@ -130,6 +130,7 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
_param_ekf2_eva_noise(_params->ev_att_noise),
_param_ekf2_evv_gate(_params->ev_vel_innov_gate),
_param_ekf2_evp_gate(_params->ev_pos_innov_gate),
_param_ekf2_grav_noise(_params->gravity_noise),
_param_ekf2_of_n_min(_params->flow_noise),
_param_ekf2_of_n_max(_params->flow_noise_qual_min),
_param_ekf2_of_qmin(_params->flow_qual_min),