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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
2023-03-14 16:51:49 -04:00
parent 9f8fa99d70
commit 0784901a66
16 changed files with 194 additions and 66 deletions
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src/modules/ekf2/EKF/ekf.cpp
+2
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@@ -148,8 +148,10 @@ void Ekf::reset()
resetEstimatorAidStatus(_aid_src_aux_vel);
#endif // CONFIG_EKF2_AUXVEL
#if defined(CONFIG_EKF2_OPTICAL_FLOW)
resetEstimatorAidStatus(_aid_src_optical_flow);
resetEstimatorAidStatus(_aid_src_terrain_optical_flow);
#endif // CONFIG_EKF2_OPTICAL_FLOW
}
bool Ekf::update()