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ekf2: auxiliary position fusion

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Co-authored-by: Daniel Agar <daniel@agar.ca>
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bresch
2023-12-01 11:50:22 +01:00
committed by Mathieu Bresciani
co-authored by Daniel Agar
parent aaefc36cad
commit fe7988672f
22 changed files with 379 additions and 8 deletions
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src/modules/ekf2/EKF/estimator_interface.h
+3
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@@ -284,6 +284,9 @@ public:
const filter_control_status_u &control_status_prev() const { return _control_status_prev; }
const decltype(filter_control_status_u::flags) &control_status_prev_flags() const { return _control_status_prev.flags; }
void enableControlStatusAuxGpos() { _control_status.flags.aux_gpos = true; }
void disableControlStatusAuxGpos() { _control_status.flags.aux_gpos = false; }
// get EKF internal fault status
const fault_status_u &fault_status() const { return _fault_status; }
const decltype(fault_status_u::flags) &fault_status_flags() const { return _fault_status.flags; }