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

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This commit is contained in:
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/ekf.cpp
+2 -1
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@@ -110,7 +110,6 @@ void Ekf::reset()
_time_last_hor_vel_fuse = 0;
_time_last_ver_vel_fuse = 0;
_time_last_heading_fuse = 0;
_time_last_zero_velocity_fuse = 0;
_last_known_pos.setZero();
@@ -175,6 +174,8 @@ void Ekf::reset()
#if defined(CONFIG_EKF2_RANGE_FINDER)
resetEstimatorAidStatus(_aid_src_rng_hgt);
#endif // CONFIG_EKF2_RANGE_FINDER
_zero_velocity_update.reset();
}
bool Ekf::update()