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ekf2: add kconfig option to enable/disable drag fusion

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This commit is contained in:
Daniel Agar
2023-03-14 09:40:00 -04:00
parent 9a56b0a70d
commit fe0e3acf09
11 changed files with 115 additions and 55 deletions
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src/modules/ekf2/EKF/estimator_interface.cpp
+8
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@@ -53,7 +53,9 @@ EstimatorInterface::~EstimatorInterface()
delete _airspeed_buffer;
delete _flow_buffer;
delete _ext_vision_buffer;
#if defined(CONFIG_EKF2_DRAG_FUSION)
delete _drag_buffer;
#endif // CONFIG_EKF2_DRAG_FUSION
delete _auxvel_buffer;
}
@@ -85,7 +87,9 @@ void EstimatorInterface::setIMUData(const imuSample &imu_sample)
_min_obs_interval_us = (imu_sample.time_us - _time_delayed_us) / (_obs_buffer_length - 1);
}
#if defined(CONFIG_EKF2_DRAG_FUSION)
setDragData(imu_sample);
#endif // CONFIG_EKF2_DRAG_FUSION
}
void EstimatorInterface::setMagData(const magSample &mag_sample)
@@ -452,6 +456,7 @@ void EstimatorInterface::setSystemFlagData(const systemFlagUpdate &system_flags)
}
}
#if defined(CONFIG_EKF2_DRAG_FUSION)
void EstimatorInterface::setDragData(const imuSample &imu)
{
// down-sample the drag specific force data by accumulating and calculating the mean when
@@ -502,6 +507,7 @@ void EstimatorInterface::setDragData(const imuSample &imu)
}
}
}
#endif // CONFIG_EKF2_DRAG_FUSION
bool EstimatorInterface::initialise_interface(uint64_t timestamp)
{
@@ -682,9 +688,11 @@ void EstimatorInterface::print_status()
printf("vision buffer: %d/%d (%d Bytes)\n", _ext_vision_buffer->entries(), _ext_vision_buffer->get_length(), _ext_vision_buffer->get_total_size());
}
#if defined(CONFIG_EKF2_DRAG_FUSION)
if (_drag_buffer) {
printf("drag buffer: %d/%d (%d Bytes)\n", _drag_buffer->entries(), _drag_buffer->get_length(), _drag_buffer->get_total_size());
}
#endif // CONFIG_EKF2_DRAG_FUSION
_output_predictor.print_status();
}