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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/estimator_interface.cpp
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@@ -656,6 +656,7 @@ int EstimatorInterface::getNumberOfActiveHorizontalAidingSources() const
+ int(_control_status.flags.opt_flow)
+ int(_control_status.flags.ev_pos)
+ int(_control_status.flags.ev_vel)
+ int(_control_status.flags.aux_gpos)
// Combined airspeed and sideslip fusion allows sustained wind relative dead reckoning
// and so is treated as a single aiding source.
+ int(_control_status.flags.fuse_aspd && _control_status.flags.fuse_beta);