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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_pos_control.cpp
+5 -4
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@@ -76,10 +76,11 @@ void Ekf::controlFakePosFusion()
if (continuing_conditions_passing) {
// always protect against extreme values that could result in a NaN
aid_src.fusion_enabled = (aid_src.test_ratio[0] < sq(100.0f / innov_gate))
&& (aid_src.test_ratio[1] < sq(100.0f / innov_gate));
fuseHorizontalPosition(aid_src);
if ((aid_src.test_ratio[0] < sq(100.0f / innov_gate))
&& (aid_src.test_ratio[1] < sq(100.0f / innov_gate))
) {
fuseHorizontalPosition(aid_src);
}
const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, (uint64_t)4e5);