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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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src/modules/ekf2/EKF/control.cpp
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@@ -198,6 +198,7 @@ void Ekf::controlFusionModes(const imuSample &imu_delayed)
controlBetaFusion(imu_delayed);
controlDragFusion();
controlHeightFusion(imu_delayed);
controlGravityFusion(imu_delayed);
// Additional data odometry data from an external estimator can be fused.
controlExternalVisionFusion();