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ekf2: add kconfig option to enable/disable AUX velocity fusion

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This commit is contained in:
Daniel Agar
2023-03-20 10:12:17 -04:00
parent 4270a303ab
commit d47f96f1a5
13 changed files with 84 additions and 11 deletions
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src/modules/ekf2/EKF/ekf_helper.cpp
+2
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@@ -335,6 +335,7 @@ void Ekf::getEvVelPosInnovRatio(float &hvel, float &vvel, float &hpos, float &vp
vpos = _aid_src_ev_hgt.test_ratio;
}
#if defined(CONFIG_EKF2_AUXVEL)
void Ekf::getAuxVelInnov(float aux_vel_innov[2]) const
{
aux_vel_innov[0] = _aid_src_aux_vel.innovation[0];
@@ -346,6 +347,7 @@ void Ekf::getAuxVelInnovVar(float aux_vel_innov_var[2]) const
aux_vel_innov_var[0] = _aid_src_aux_vel.innovation_variance[0];
aux_vel_innov_var[1] = _aid_src_aux_vel.innovation_variance[1];
}
#endif // CONFIG_EKF2_AUXVEL
void Ekf::getFlowInnov(float flow_innov[2]) const
{