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ekf2: height aid source consistency (#20405)

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- working towards keeping all height source (baro/ev/gnss/rng) handling as consistent as possible, possibly refactoring these out into separate classes later
This commit is contained in:
Daniel Agar
2022-10-19 15:35:07 -04:00
committed by GitHub
parent 870229ef49
commit f9509b442c
21 changed files with 890 additions and 1083 deletions
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src/modules/ekf2/EKF/height_control.cpp
+3 -3
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@@ -46,7 +46,7 @@ void Ekf::controlHeightFusion()
controlBaroHeightFusion();
controlGnssHeightFusion(_gps_sample_delayed);
controlRangeHeightFusion();
controlEvHeightFusion();
controlEvHeightFusion(_ev_sample_delayed);
checkHeightSensorRefFallback();
}
@@ -211,14 +211,14 @@ Likelihood Ekf::estimateInertialNavFallingLikelihood() const
// Check all the sources agains each other
for (unsigned i = 0; i < 6; i++) {
if (checks[i].failed_lim) {
// There is a chance that the interial nav is falling if one source is failing the test
// There is a chance that the inertial nav is falling if one source is failing the test
likelihood_medium = true;
}
for (unsigned j = 0; j < 6; j++) {
if ((checks[i].ref_type != checks[j].ref_type) && checks[i].failed_lim && checks[j].failed_min) {
// There is a high chance that the interial nav is falling if two sources are failing the test
// There is a high chance that the inertial nav is failing if two sources are failing the test
likelihood_high = true;
}
}