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EKF: down-sample drag specific force data

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This commit is contained in:
Paul Riseborough
2017-04-11 20:59:34 +10:00
committed by Lorenz Meier
parent 9f48c0505b
commit 3758c5a09d
5 changed files with 60 additions and 10 deletions
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EKF/control.cpp
+3 -1
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@@ -865,12 +865,14 @@ void Ekf::controlDragFusion()
{
if (_params.fusion_mode & MASK_USE_DRAG && _control_status.flags.in_air) {
if (!_control_status.flags.wind) {
// reset the wind states and covariances when starting drag accel fusion
_control_status.flags.wind = true;
resetWindStates();
resetWindCovariance();
} else {
} else if (_drag_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_drag_sample_delayed)) {
fuseDrag();
}
} else {
_control_status.flags.wind = false;