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ekf2: add fake height fusion logic

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When there is no vertical aiding, fake height is started to constrain
the vertical channel of the EKF
This commit is contained in:
bresch
2022-08-08 16:55:51 +02:00
committed by Daniel Agar
parent aa716936bf
commit a54fa7b9b1
15 changed files with 177 additions and 7 deletions
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msg/estimator_aid_source_1d.msg
+1
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@@ -20,4 +20,5 @@ 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_fake_hgt
# TOPICS estimator_aid_src_mag_heading estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw
msg/estimator_status_flags.msg
+1
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@@ -37,6 +37,7 @@ bool cs_inertial_dead_reckoning # 29 - true if we are no longer fusing measureme
bool cs_wind_dead_reckoning # 30 - true if we are navigationg reliant on wind relative measurements
bool cs_rng_kin_consistent # 31 - true when the range finder kinematic consistency check is passing
bool cs_fake_pos # 32 - true when fake position measurements are being fused
bool cs_fake_hgt # 33 - true when fake height measurements are being fused
# fault status
uint32 fault_status_changes # number of filter fault status (fs) changes