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ekf2: new gravity observation (#21038)

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Signed-off-by: Daniel M. Sahu <danielmohansahu@gmail.com>
This commit is contained in:
Daniel Sahu
2023-02-07 13:28:58 -05:00
committed by GitHub
parent 3e149ee6c5
commit fa6fda6cce
15 changed files with 456 additions and 7 deletions
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msg/EstimatorAidSource3d.msg
+1 -3
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@@ -18,6 +18,4 @@ bool fusion_enabled # true when measurements are being fused
bool innovation_rejected # true if the observation has been rejected
bool fused # true if the sample was successfully fused
# TOPICS estimator_aid_src_ev_vel
# TOPICS estimator_aid_src_gnss_vel
# TOPICS estimator_aid_src_mag
# TOPICS estimator_aid_src_ev_vel estimator_aid_src_gnss_vel estimator_aid_src_gravity estimator_aid_src_mag
msg/EstimatorInnovations.msg
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@@ -28,6 +28,7 @@ float32[2] terr_flow # flow innvoation (rad/sec) and innovation variance compute
# Various
float32 heading # heading innovation (rad) and innovation variance (rad**2)
float32[3] mag_field # earth magnetic field innovation (Gauss) and innovation variance (Gauss**2)
float32[3] gravity # gravity innovation from accelerometerr vector (m/s**2)
float32[2] drag # drag specific force innovation (m/sec**2) and innovation variance ((m/sec)**2)
float32 airspeed # airspeed innovation (m/sec) and innovation variance ((m/sec)**2)
float32 beta # synthetic sideslip innovation (rad) and innovation variance (rad**2)
msg/EstimatorStatusFlags.msg
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@@ -38,6 +38,7 @@ bool cs_wind_dead_reckoning # 30 - true if we are navigationg reliant on win
bool cs_rng_kin_consistent # 31 - true when the range finder kinematic consistency check is passing
bool cs_fake_pos # 32 - true when fake position measurements are being fused
bool cs_fake_hgt # 33 - true when fake height measurements are being fused
bool cs_gravity_vector # 34 - true when gravity vector measurements are being fused
# fault status
uint32 fault_status_changes # number of filter fault status (fs) changes