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WIP: ekf2 optional double precision floating point

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This commit is contained in:
Daniel Agar
2024-03-27 14:29:26 -04:00
parent 6e86862b6a
commit d8772169da
40 changed files with 390 additions and 174 deletions
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src/modules/ekf2/EKF/ev_height_control.cpp
+2 -2
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@@ -73,8 +73,8 @@ 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));
const ekf_float_t measurement = pos(2) - pos_offset_earth(2);
ekf_float_t 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