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ekf2: new kconfig to enable/disable GNSS (enabled by default)

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This commit is contained in:
Daniel Agar
2023-10-11 14:02:34 -04:00
committed by GitHub
parent 2d78383296
commit d2b3e7fe16
24 changed files with 476 additions and 331 deletions
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src/modules/ekf2/EKF/ekf.cpp
+8 -5
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@@ -92,7 +92,11 @@ void Ekf::reset()
_prev_gyro_bias_var.zero();
_prev_accel_bias_var.zero();
#if defined(CONFIG_EKF2_GNSS)
resetGpsDriftCheckFilters();
_gps_checks_passed = false;
#endif // CONFIG_EKF2_GNSS
_gps_alt_ref = NAN;
_output_predictor.reset();
@@ -112,9 +116,6 @@ void Ekf::reset()
_time_acc_bias_check = 0;
_gps_checks_passed = false;
_gps_alt_ref = NAN;
#if defined(CONFIG_EKF2_BAROMETER)
_baro_counter = 0;
#endif // CONFIG_EKF2_BAROMETER
@@ -147,13 +148,15 @@ void Ekf::reset()
resetEstimatorAidStatus(_aid_src_ev_yaw);
#endif // CONFIG_EKF2_EXTERNAL_VISION
#if defined(CONFIG_EKF2_GNSS)
resetEstimatorAidStatus(_aid_src_gnss_hgt);
resetEstimatorAidStatus(_aid_src_gnss_pos);
resetEstimatorAidStatus(_aid_src_gnss_vel);
#if defined(CONFIG_EKF2_GNSS_YAW)
# if defined(CONFIG_EKF2_GNSS_YAW)
resetEstimatorAidStatus(_aid_src_gnss_yaw);
#endif // CONFIG_EKF2_GNSS_YAW
# endif // CONFIG_EKF2_GNSS_YAW
#endif // CONFIG_EKF2_GNSS
#if defined(CONFIG_EKF2_MAGNETOMETER)
resetEstimatorAidStatus(_aid_src_mag_heading);