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EKF: allow initialising without mag depending on configuration

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- reduce initial number of required mag and baro samples before init
This commit is contained in:
Daniel Agar
2020-11-02 17:13:14 -05:00
committed by Paul Riseborough
parent 1237087d70
commit 398fe159ce
6 changed files with 762 additions and 760 deletions
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EKF/estimator_interface.cpp
+1 -2
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@@ -50,8 +50,7 @@ void EstimatorInterface::setIMUData(const imuSample &imu_sample)
{
// TODO: resolve misplaced responsibility
if (!_initialised) {
init(imu_sample.time_us);
_initialised = true;
_initialised = init(imu_sample.time_us);
}
const float dt = math::constrain((imu_sample.time_us - _time_last_imu) / 1e6f, 1.0e-4f, 0.02f);