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

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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/ev_height_control.cpp
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@@ -76,10 +76,12 @@ void Ekf::controlEvHeightFusion(const extVisionSample &ev_sample, const bool com
const float measurement = pos(2) - pos_offset_earth(2);
float measurement_var = math::max(pos_cov(2, 2), sq(_params.ev_pos_noise), sq(0.01f));
#if defined(CONFIG_EKF2_GNSS)
// increase minimum variance if GPS active
if (_control_status.flags.gps_hgt) {
measurement_var = math::max(measurement_var, sq(_params.gps_pos_noise));
}
#endif // CONFIG_EKF2_GNSS
const bool measurement_valid = PX4_ISFINITE(measurement) && PX4_ISFINITE(measurement_var);