Let user choose which EK3_SRC params to change

[clydemcqueen]

Do not set EK3_SRC parameters by default, but provide buttons instead.

2 use cases are supported:

• use the DVL for horizontal position and velocity
• use the GPS for horizontal position, and the DVL for horizontal velocity

Fixes #35

[clydemcqueen]

Updated to pass the pylint CI (I hope).

I don't know why the deploy CI is failing. I marked the PR 'ready for review' to see if that helps.

[Williangalvani]

Oh, the deploy CI is apparently wrong, it should not try to run on PRs.

@clydemcqueen don't we need EK3_SRC_OPTIONS for fusing? I see it set to "4" on your issue but that doesn't seem valid

[clydemcqueen]

don't we need EK3_SRC_OPTIONS for fusing? I see it set to "4" on your issue but that doesn't seem valid

"4" is type; the value is 1. (That's how QGC dumps parameters.)

In my earlier example I had this:

• SRC1_POSXY GPS
• SRC1_VELXY GPS
• SRC2_VELXY DVL
• SRC_OPTIONS 1

I did more simulations after that, and this worked just as well:

• SRC1_POSXY GPS
• SRC1_VELXY DVL
• SRC_OPTIONS is not used

I've been using this simpler setup in the very limited IRL tests we've done so far, and it works just fine. Perhaps more extensive tests will prove that one method works better than the other? Of a careful tracing of the EKF code might prove that they are equivalent...

[Williangalvani]

"4" is type; the value is 1. (That's how QGC dumps parameters.)

lol I misread that badly, sorry. I'll try to test this asap, thanks!

[Williangalvani]

tested and works as expected. user feedback would be nice, but I think the feature is worth merging asap.

Thanks Clyde!