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EKF: Enable height source to be selected independent of EV aiding

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Paul Riseborough
2016-05-27 13:14:52 +10:00
parent 00bada8f25
commit 1b6c5bbafd
5 changed files with 37 additions and 16 deletions
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EKF/vel_pos_fusion.cpp
+1 -1
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@@ -165,7 +165,7 @@ void Ekf::fuseVelPosHeight()
R[5] = R[5] * R[5];
// innovation gate size
gate_size[5] = fmaxf(_params.range_innov_gate, 1.0f);
} else if (_control_status.flags.ev_pos) {
} else if (_control_status.flags.ev_hgt) {
fuse_map[5] = true;
// calculate the innovation assuming the external vision observaton is in local NED frame
_vel_pos_innov[5] = _state.pos(2) - _ev_sample_delayed.posNED(2);