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ekf2: remove aid src status fusion_enabled flag

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This commit is contained in:
Daniel Agar
2023-09-26 10:30:16 -04:00
parent 99197919d7
commit 14a967e2ca
27 changed files with 105 additions and 137 deletions
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src/modules/ekf2/EKF/fake_height_control.cpp
+3 -3
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@@ -63,9 +63,9 @@ void Ekf::controlFakeHgtFusion()
if (continuing_conditions_passing) {
// always protect against extreme values that could result in a NaN
aid_src.fusion_enabled = aid_src.test_ratio < sq(100.0f / innov_gate);
fuseVerticalPosition(aid_src);
if (aid_src.test_ratio < sq(100.0f / innov_gate)) {
fuseVerticalPosition(aid_src);
}
const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, (uint64_t)4e5);