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ekf2: cleanup more optional mag (CONFIG_EKF2_MAGNETOMETER)

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Daniel Agar
2023-10-04 11:49:59 -04:00
parent 5f87f3a046
commit 28d58a947f
7 changed files with 71 additions and 45 deletions
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src/modules/ekf2/EKF/estimator_interface.cpp
+2
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@@ -571,10 +571,12 @@ bool EstimatorInterface::initialise_interface(uint64_t timestamp)
}
#endif // CONFIG_EKF2_AIRSPEED
#if defined(CONFIG_EKF2_MAGNETOMETER)
// mag mode
if (_params.mag_fusion_type != MagFuseType::NONE) {
max_time_delay_ms = math::max(_params.mag_delay_ms, max_time_delay_ms);
}
#endif // CONFIG_EKF2_MAGNETOMETER
#if defined(CONFIG_EKF2_RANGE_FINDER)
// using range finder