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EKF: Add fusion of external yaw data

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Paul Riseborough
2016-05-14 21:17:29 +10:00
parent 37a09c61bc
commit e917d6c7f2
4 changed files with 60 additions and 10 deletions
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EKF/common.h
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@@ -163,6 +163,7 @@ struct extVisionSample {
#define MAG_FUSE_TYPE_AUTO 0 // The selection of either heading or 3D magnetometer fusion will be automatic
#define MAG_FUSE_TYPE_HEADING 1 // Simple yaw angle fusion will always be used. This is less accurate, but less affected by earth field distortions. It should not be used for pitch angles outside the range from -60 to +60 deg
#define MAG_FUSE_TYPE_3D 2 // Magnetometer 3-axis fusion will always be used. This is more accurate, but more affected by localised earth field distortions
#define USE_EV_YAW 3 // Fuse yaw angle from external vision system
// Maximum sensor intervals in usec
#define GPS_MAX_INTERVAL 5e5