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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/EKF2.hpp
+7
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@@ -285,6 +285,8 @@ private:
hrt_abstime _status_mag_pub_last{0};
hrt_abstime _status_mag_heading_pub_last{0};
hrt_abstime _status_gravity_pub_last{0};
hrt_abstime _status_aux_vel_pub_last{0};
hrt_abstime _status_optical_flow_pub_last{0};
@@ -376,6 +378,8 @@ private:
uORB::PublicationMulti<estimator_aid_source1d_s> _estimator_aid_src_mag_heading_pub{ORB_ID(estimator_aid_src_mag_heading)};
uORB::PublicationMulti<estimator_aid_source3d_s> _estimator_aid_src_mag_pub{ORB_ID(estimator_aid_src_mag)};
uORB::PublicationMulti<estimator_aid_source3d_s> _estimator_aid_src_gravity_pub{ORB_ID(estimator_aid_src_gravity)};
uORB::PublicationMulti<estimator_aid_source2d_s> _estimator_aid_src_aux_vel_pub{ORB_ID(estimator_aid_src_aux_vel)};
uORB::PublicationMulti<estimator_aid_source2d_s> _estimator_aid_src_optical_flow_pub{ORB_ID(estimator_aid_src_optical_flow)};
@@ -540,6 +544,9 @@ private:
(ParamExtFloat<px4::params::EKF2_EVP_GATE>)
_param_ekf2_evp_gate, ///< external vision position innovation consistency gate size (STD)
(ParamExtFloat<px4::params::EKF2_GRAV_NOISE>)
_param_ekf2_grav_noise, ///< default accelerometer noise for gravity fusion measurements (m/s**2)
// optical flow fusion
(ParamExtFloat<px4::params::EKF2_OF_N_MIN>)
_param_ekf2_of_n_min, ///< best quality observation noise for optical flow LOS rate measurements (rad/sec)