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ekf2: add terrain/dist_bottom reset deltas (vehicle_local_position/vehicle_global_position)

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This commit is contained in:
Daniel Agar
2024-07-15 10:25:42 -04:00
committed by GitHub
parent a5a67315fd
commit e03aef616c
11 changed files with 104 additions and 13 deletions
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msg/VehicleGlobalPosition.msg
+2
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@@ -14,8 +14,10 @@ float32 alt # Altitude AMSL, (meters)
float32 alt_ellipsoid # Altitude above ellipsoid, (meters)
float32 delta_alt # Reset delta for altitude
float32 delta_terrain # Reset delta for terrain
uint8 lat_lon_reset_counter # Counter for reset events on horizontal position coordinates
uint8 alt_reset_counter # Counter for reset events on altitude
uint8 terrain_reset_counter # Counter for reset events on terrain
float32 eph # Standard deviation of horizontal position error, (metres)
float32 epv # Standard deviation of vertical position error, (metres)
msg/VehicleLocalPosition.msg
+5 -1
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@@ -55,9 +55,13 @@ float64 ref_lon # Reference point longitude, (degrees)
float32 ref_alt # Reference altitude AMSL, (metres)
# Distance to surface
bool dist_bottom_valid # true if distance to bottom surface is valid
float32 dist_bottom # Distance from from bottom surface to ground, (metres)
float32 dist_bottom_var # terrain estimate variance (m^2)
bool dist_bottom_valid # true if distance to bottom surface is valid
float32 delta_dist_bottom # Amount of vertical shift of dist bottom estimate in latest reset [m]
uint8 dist_bottom_reset_counter # Index of latest dist bottom estimate reset
uint8 dist_bottom_sensor_bitfield # bitfield indicating what type of sensor is used to estimate dist_bottom
uint8 DIST_BOTTOM_SENSOR_NONE = 0
uint8 DIST_BOTTOM_SENSOR_RANGE = 1 # (1 << 0) a range sensor is used to estimate dist_bottom field