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ekf2: use estimator_aid_src for all yaw sources (mag, gnss, ev)

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Daniel Agar
2022-07-20 21:37:00 -04:00
parent d5d88cba5b
commit a397c09e59
16 changed files with 334 additions and 155 deletions
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msg/estimator_aid_source_1d.msg
+1
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@@ -20,3 +20,4 @@ bool fused # true if the sample was successfully fused
# TOPICS estimator_aid_source_1d
# TOPICS estimator_aid_src_baro_hgt estimator_aid_src_rng_hgt estimator_aid_src_airspeed
# TOPICS estimator_aid_src_mag_heading estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw
msg/estimator_aid_source_3d.msg
+1 -1
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@@ -19,4 +19,4 @@ bool[3] innovation_rejected # true if the observation has been rejected
bool[3] fused # true if the sample was successfully fused
# TOPICS estimator_aid_source_3d
# TOPICS estimator_aid_src_gnss_pos estimator_aid_src_gnss_vel
# TOPICS estimator_aid_src_gnss_pos estimator_aid_src_gnss_vel estimator_aid_src_mag
msg/estimator_status_flags.msg
-3
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@@ -65,9 +65,6 @@ bool reject_hor_vel # 0 - true if horizontal velocity obs
bool reject_ver_vel # 1 - true if vertical velocity observations have been rejected
bool reject_hor_pos # 2 - true if horizontal position observations have been rejected
bool reject_ver_pos # 3 - true if vertical position observations have been rejected
bool reject_mag_x # 4 - true if the X magnetometer observation has been rejected
bool reject_mag_y # 5 - true if the Y magnetometer observation has been rejected
bool reject_mag_z # 6 - true if the Z magnetometer observation has been rejected
bool reject_yaw # 7 - true if the yaw observation has been rejected
bool reject_airspeed # 8 - true if the airspeed observation has been rejected
bool reject_sideslip # 9 - true if the synthetic sideslip observation has been rejected