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ekf2_terr: refactor terrain estimator - rng aiding

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bresch
2022-02-11 10:57:45 -05:00
committed by Daniel Agar
parent 5818974f0f
commit 33fd1849e0
3 changed files with 185 additions and 96 deletions
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src/modules/ekf2/EKF/ekf.cpp
+2 -2
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@@ -209,8 +209,8 @@ bool Ekf::initialiseFilter()
increaseQuatYawErrVariance(sq(fmaxf(_params.mag_heading_noise, 1.0e-2f)));
}
// try to initialise the terrain estimator
_terrain_initialised = initHagl();
// Initialise the terrain estimator
initHagl();
// reset the essential fusion timeout counters
_time_last_hgt_fuse = _time_last_imu;