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ekf2: innovation sequence monitoring for all aid sources

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- add new 'innovation_filtered' and 'test_ratio_filtered' fields to
   estimator_aid_source topics
This commit is contained in:
Daniel Agar
2023-08-05 20:46:27 -04:00
parent 1c657a59b1
commit 206488b844
31 changed files with 540 additions and 549 deletions
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msg/EstimatorAidSource2d.msg
+10 -6
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@@ -1,5 +1,5 @@
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
uint8 estimator_instance
@@ -11,11 +11,15 @@ float32[2] observation
float32[2] observation_variance
float32[2] innovation
float32[2] innovation_variance
float32[2] test_ratio
float32[2] innovation_filtered
bool innovation_rejected # true if the observation has been rejected
bool fused # true if the sample was successfully fused
float32[2] innovation_variance
float32[2] test_ratio # normalized innovation squared
float32[2] test_ratio_filtered # signed filtered test ratio
bool innovation_rejected # true if the observation has been rejected
bool fused # true if the sample was successfully fused
# TOPICS estimator_aid_src_ev_pos estimator_aid_src_fake_pos estimator_aid_src_gnss_pos estimator_aid_src_aux_global_position
# TOPICS estimator_aid_src_aux_vel estimator_aid_src_optical_flow estimator_aid_src_terrain_optical_flow