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ekf2: auxiliary position fusion

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Co-authored-by: Daniel Agar <daniel@agar.ca>
This commit is contained in:
bresch
2023-11-29 12:19:18 +01:00
committed by Mathieu Bresciani
parent aaefc36cad
commit fe7988672f
22 changed files with 379 additions and 8 deletions
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src/modules/ekf2/EKF/ekf.cpp
+7
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@@ -340,3 +340,10 @@ void Ekf::predictState(const imuSample &imu_delayed)
float alpha_height_rate_lpf = 0.1f * imu_delayed.delta_vel_dt; // 10 seconds time constant
_height_rate_lpf = _height_rate_lpf * (1.0f - alpha_height_rate_lpf) + _state.vel(2) * alpha_height_rate_lpf;
}
void Ekf::updateParameters()
{
#if defined(CONFIG_EKF2_AUX_GLOBAL_POSITION) && defined(MODULE_NAME)
_aux_global_position.updateParameters();
#endif // CONFIG_EKF2_AUX_GLOBAL_POSITION
}