From 2144a40a3c63c15b2ebbc5ea1ffe81e2a70a149a Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Sun, 8 May 2016 16:03:21 +1000 Subject: [PATCH] EKF: redefine accelerometer bias state inhibit switch bit location --- EKF/common.h | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/EKF/common.h b/EKF/common.h index 099dae505c..3b8df55ff5 100644 --- a/EKF/common.h +++ b/EKF/common.h @@ -139,8 +139,7 @@ struct flowSample { // Bit locations for fusion_mode #define MASK_USE_GPS (1<<0) // set to true to use GPS data #define MASK_USE_OF (1<<1) // set to true to use optical flow data - -#define MASK_INHIBIT_ACC_BIAS (1<<3) // set to true to inhibit estimation of accelerometer delta velocity bias +#define MASK_INHIBIT_ACC_BIAS (1<<2) // set to true to inhibit estimation of accelerometer delta velocity bias // Integer definitions for mag_fusion_type #define MAG_FUSE_TYPE_AUTO 0 // The selection of either heading or 3D magnetometer fusion will be automatic