EKF3: allow alt from other sources when using ExtNav #15602
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this non-functional change slightly reduces the number of places we set these variables
also allows using ExtNav alt when not using it for XY position removes redundant and incorrect setting of activeHgtSource from ExtNav which was always being overwritten by the correct value later in selectHeightForFusion
tridge
previously requested changes
Oct 20, 2020
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need to pass CI |
rmackay9
dismissed
tridge’s stale review
Resolved Tridge's request to consolidate the timeouts
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I've retested this after making the requested changes and it all works so I'll merge this after it passes travis. |
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Merged, thanks for the reviews! |
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This PR allows the EKF's altitude source to come from another source (baro, rangefinder, etc) when using external nav as the horizontal position source. This is useful especially for users of the T265 which can lose its position and altitude estimate due to high vibration. Because multicopter Z-axis vibrations tend to be particularly high, the camera normally loses its altitude estimate first. Allowing the user to rely on barometer is generally a safer option.
This PR is part of the EKF position source PR: #14803. I've extracted it here to simplify the other PR.
This has been tested in SITL and extensively on a real vehicle. Below is a screen shot of a SITL test in which EK3_ALT_SOURCE = 0 (Baro) but the vicon is enabled. We see that a glitch in the External Nav's Z-axis position has no impact on the EKF's altitude.
This is the same test again but with EK3_ALT_SOURCE = 4 (ExtNav) and the EKF's altitude is affected by a glitch in the External Nav's Z-axis position.
The ExtNav altitude can also be used with GPS (or other horizontal position source). I tested this in SITL as well and it worked as expected.