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ekf2: add kconfig option to enable/disable optical flow fusion

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This commit is contained in:
Daniel Agar
2023-03-21 11:25:34 -04:00
parent 9f8fa99d70
commit 0784901a66
16 changed files with 194 additions and 66 deletions
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src/modules/ekf2/EKF/control.cpp
+4
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@@ -104,7 +104,11 @@ void Ekf::controlFusionModes(const imuSample &imu_delayed)
// control use of observations for aiding
controlMagFusion();
#if defined(CONFIG_EKF2_OPTICAL_FLOW)
controlOpticalFlowFusion(imu_delayed);
#endif // CONFIG_EKF2_OPTICAL_FLOW
controlGpsFusion(imu_delayed);
#if defined(CONFIG_EKF2_AIRSPEED)