bresch
5f54f6fcda
ekf2: migrate sideslip fusion to SymForce
...
- split fusion into update (compute innov and innov_var) and actual fusion to the state vector
- use estimator_aid_source_1d struct to group the data
2022-10-12 09:55:35 -04:00
bresch
a54fa7b9b1
ekf2: add fake height fusion logic
...
When there is no vertical aiding, fake height is started to constrain
the vertical channel of the EKF
2022-09-10 12:29:29 -04:00
Daniel Agar
a397c09e59
ekf2: use estimator_aid_src for all yaw sources (mag, gnss, ev)
2022-07-29 11:20:48 -04:00
bresch
2fd87c47e8
ekf2: use estimator_aid_source_1d message for airspeed fusion
...
split the fusion process into:
1. updateAirspeed: computes innov, innov_var, obs_var, ...
2. fuseAirspeed: uses data computed in 1. to generate K, H and fuse the
observation
2022-07-07 09:42:54 -04:00
Daniel Agar
58ea6235fe
ekf2: estimator aid source status (range height)
2022-05-25 09:25:12 -04:00
Daniel Agar
1e25aee6fa
ekf2: estimator aid source status (baro height)
2022-05-25 09:25:12 -04:00
Daniel Agar
1ae467e9cd
ekf2: estimator aid source status (starting with fake position)
2022-05-23 16:21:49 -04:00
