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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/EKF2.cpp
+3
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@@ -511,6 +511,8 @@ void EKF2::Run()
}
#endif // CONFIG_EKF2_MAGNETOMETER
_ekf.updateParameters();
}
if (!_callback_registered) {
@@ -1896,6 +1898,7 @@ void EKF2::PublishStatusFlags(const hrt_abstime &timestamp)
status_flags.cs_mag = _ekf.control_status_flags().mag;
status_flags.cs_ev_yaw_fault = _ekf.control_status_flags().ev_yaw_fault;
status_flags.cs_mag_heading_consistent = _ekf.control_status_flags().mag_heading_consistent;
status_flags.cs_aux_gpos = _ekf.control_status_flags().aux_gpos;
status_flags.fault_status_changes = _filter_fault_status_changes;
status_flags.fs_bad_mag_x = _ekf.fault_status_flags().bad_mag_x;