ekf2: consider GNSS vel as horizontal velocity aiding

bresch · bresch · commit d5c46b342d83 · 2025-03-14T16:25:28.000+01:00
diff --git a/src/modules/ekf2/EKF/estimator_interface.cpp b/src/modules/ekf2/EKF/estimator_interface.cpp
@@ -624,7 +624,8 @@ int EstimatorInterface::getNumberOfActiveHorizontalPositionAidingSources() const
 
 int EstimatorInterface::getNumberOfActiveHorizontalVelocityAidingSources() const
 {
-	return int(_control_status.flags.opt_flow)
+	return int(_control_status.flags.gnss_vel)
+	       + int(_control_status.flags.opt_flow)
 	       + int(_control_status.flags.ev_vel)
 	       // Combined airspeed and sideslip fusion allows sustained wind relative dead reckoning
 	       // and so is treated as a single aiding source.

Original file line number	Diff line number	Diff line change
`@@ -624,7 +624,8 @@ int EstimatorInterface::getNumberOfActiveHorizontalPositionAidingSources() const`
`624`	`624`
`625`	`625`	`int EstimatorInterface::getNumberOfActiveHorizontalVelocityAidingSources() const`
`626`	`626`	`{`
`627`		`- return int(_control_status.flags.opt_flow)`
	`627`	`+ return int(_control_status.flags.gnss_vel)`
	`628`	`+ + int(_control_status.flags.opt_flow)`
`628`	`629`	`+ int(_control_status.flags.ev_vel)`
`629`	`630`	`// Combined airspeed and sideslip fusion allows sustained wind relative dead reckoning`
`630`	`631`	`// and so is treated as a single aiding source.`