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EKF2: reset position by fusion (#23279)

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* reset position by fusion

* handle local_pos_valid for fixed wing in gnss denied

* [WIP] ekf2: setEkfGlobalOrigin respect current height reference and vertical position aiding

* global origin, also reset vertical pos without gps as ref

* fix wo gnss, that bitcraze ci passes

* revert some changes as requested

* remove duplicate reset messages

* undo unrelated whitespace changes, I'll fix it everywhere in a followup

* [SQUASH] ekf2: add vehicle_command_ack

* resetGlobalPosToExternalObservation consolidate logic

* remove gnss check from local_pos validation check

* reset when  0<accuracy<1, otherwise fuse

* replace gps param with flag

* ekf2: dead reckon time exceeded, respect ZUPT preflight if air data or optical flow expected

* subtract timeout from last inertial dead-reck, change fake pos conditions, save flash

---------

Co-authored-by: Daniel Agar <daniel@agar.ca>
This commit is contained in:
Marco Hauswirth
2024-07-07 22:43:55 +02:00
committed by GitHub
co-authored by Daniel Agar
parent ac1effa32a
commit e04c53241a
10 changed files with 182 additions and 68 deletions
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src/modules/ekf2/test/test_EKF_gps.cpp
+1 -1
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@@ -105,7 +105,7 @@ TEST_F(EkfGpsTest, gpsFixLoss)
_sensor_simulator._gps.setFixType(0);
// THEN: after dead-reconing for a couple of seconds, the local position gets invalidated
_sensor_simulator.runSeconds(5);
_sensor_simulator.runSeconds(6);
EXPECT_TRUE(_ekf->control_status_flags().inertial_dead_reckoning);
EXPECT_FALSE(_ekf->local_position_is_valid());