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feat(ekf2): enable fusion-ctrl toggle over mavlink cmd, CTRL param act only as reference

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Marco Hauswirth
2026-02-13 16:10:51 +01:00
committed by Marco Hauswirth
parent 2828162f72
commit 0dd1640a54
27 changed files with 355 additions and 34 deletions
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msg/EstimatorFusionControl.msg
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uint64 timestamp # time since system start (microseconds)
int32 gps_intended # effective EKF2_GPS_CTRL value (0 = disabled)
int32 of_intended # effective EKF2_OF_CTRL value (0 = disabled)
int32 ev_intended # effective EKF2_EV_CTRL value (0 = disabled)
int32[4] agp_intended # effective EKF2_AGPx_CTRL values (0 = disabled)
int32 baro_intended # effective EKF2_BARO_CTRL value (0 = disabled)
int32 rng_intended # effective EKF2_RNG_CTRL value (0 = disabled)
int32 drag_intended # effective EKF2_DRAG_CTRL value (0 = disabled)
int32 mag_intended # effective EKF2_MAG_TYPE value (5 = disabled/NONE)
int32 imu_intended # effective EKF2_IMU_CTRL value (0 = disabled)
uint8 agp_active # bitmask of AGP instances actively fusing (bit i = instance i)