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ekf2: new EKF2_IMU_CTRL parameter and gyro bias inhibit mechanism

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- EKF2_AID_MASK accel bias inhibit moves to EKF2_IMU_CTRL
This commit is contained in:
Daniel Agar
2023-02-03 09:52:24 -05:00
committed by GitHub
parent f668ea5aa6
commit 264a99fb77
7 changed files with 112 additions and 15 deletions
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src/modules/ekf2/EKF2.hpp
+2
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@@ -397,6 +397,8 @@ private:
DEFINE_PARAMETERS(
(ParamExtInt<px4::params::EKF2_PREDICT_US>) _param_ekf2_predict_us,
(ParamExtInt<px4::params::EKF2_IMU_CTRL>) _param_ekf2_imu_ctrl,
(ParamExtFloat<px4::params::EKF2_MAG_DELAY>)
_param_ekf2_mag_delay, ///< magnetometer measurement delay relative to the IMU (mSec)
(ParamExtFloat<px4::params::EKF2_BARO_DELAY>)