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ekf2: add kconfig for barometer support (enabled by default)

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Daniel Agar
2023-09-15 10:02:09 -04:00
parent f0224c5104
commit 1e9f0ad2c6
13 changed files with 168 additions and 64 deletions
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src/modules/ekf2/EKF/ekf.cpp
+4
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@@ -109,7 +109,9 @@ void Ekf::reset()
_gps_checks_passed = false;
_gps_alt_ref = NAN;
#if defined(CONFIG_EKF2_BAROMETER)
_baro_counter = 0;
#endif // CONFIG_EKF2_BAROMETER
#if defined(CONFIG_EKF2_MAGNETOMETER)
_mag_counter = 0;
@@ -119,7 +121,9 @@ void Ekf::reset()
_time_good_vert_accel = 0;
_clip_counter = 0;
#if defined(CONFIG_EKF2_BAROMETER)
resetEstimatorAidStatus(_aid_src_baro_hgt);
#endif // CONFIG_EKF2_BAROMETER
#if defined(CONFIG_EKF2_AIRSPEED)
resetEstimatorAidStatus(_aid_src_airspeed);
#endif // CONFIG_EKF2_AIRSPEED