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ekf2: create simple estimator aid source base class and extract zero velocity update

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Daniel Agar
2023-10-18 20:23:56 -04:00
parent 7ac50a20b0
commit e79737a38d
8 changed files with 165 additions and 26 deletions
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src/modules/ekf2/EKF/control.cpp
+2 -1
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@@ -145,7 +145,8 @@ void Ekf::controlFusionModes(const imuSample &imu_delayed)
controlZeroInnovationHeadingUpdate();
controlZeroVelocityUpdate();
_zero_velocity_update.update(*this, imu_delayed);
controlZeroGyroUpdate(imu_delayed);
// Fake position measurement for constraining drift when no other velocity or position measurements