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ekf2: auxiliary position fusion

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Co-authored-by: Daniel Agar <daniel@agar.ca>
This commit is contained in:
bresch
2023-11-29 12:19:18 +01:00
committed by Mathieu Bresciani
parent aaefc36cad
commit fe7988672f
22 changed files with 379 additions and 8 deletions
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msg/EstimatorAidSource2d.msg
+1 -1
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@@ -17,6 +17,6 @@ float32[2] 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
# 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
# TOPICS estimator_aid_src_drag
msg/EstimatorStatusFlags.msg
+1
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@@ -42,6 +42,7 @@ bool cs_gravity_vector # 34 - true when gravity vector measurements are
bool cs_mag # 35 - true if 3-axis magnetometer measurement fusion (mag states only) is intended
bool cs_ev_yaw_fault # 36 - true when the EV heading has been declared faulty and is no longer being used
bool cs_mag_heading_consistent # 37 - true when the heading obtained from mag data is declared consistent with the filter
bool cs_aux_gpos # 38 - true if auxiliary global position measurement fusion is intended
# fault status
uint32 fault_status_changes # number of filter fault status (fs) changes
msg/VehicleGlobalPosition.msg
+1
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@@ -27,3 +27,4 @@ bool dead_reckoning # True if this position is estimated through dead-reckoning
# TOPICS vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position
# TOPICS estimator_global_position
# TOPICS aux_global_position