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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/height_control.cpp
+4
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@@ -47,7 +47,9 @@ void Ekf::controlHeightFusion(const imuSample &imu_delayed)
controlBaroHeightFusion();
#endif // CONFIG_EKF2_BAROMETER
#if defined(CONFIG_EKF2_GNSS)
controlGnssHeightFusion(_gps_sample_delayed);
#endif // CONFIG_EKF2_GNSS
#if defined(CONFIG_EKF2_RANGE_FINDER)
controlRangeHeightFusion();
@@ -185,6 +187,7 @@ Likelihood Ekf::estimateInertialNavFallingLikelihood() const
}
#endif // CONFIG_EKF2_BAROMETER
#if defined(CONFIG_EKF2_GNSS)
if (_control_status.flags.gps_hgt) {
checks[1] = {ReferenceType::GNSS, _aid_src_gnss_hgt.innovation, _aid_src_gnss_hgt.innovation_variance};
}
@@ -192,6 +195,7 @@ Likelihood Ekf::estimateInertialNavFallingLikelihood() const
if (_control_status.flags.gps) {
checks[2] = {ReferenceType::GNSS, _aid_src_gnss_vel.innovation[2], _aid_src_gnss_vel.innovation_variance[2]};
}
#endif // CONFIG_EKF2_GNSS
#if defined(CONFIG_EKF2_RANGE_FINDER)
if (_control_status.flags.rng_hgt) {