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ekf2: move drag fusion activation from AID_MASK to DRAG_CTRL

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bresch
2023-04-28 22:31:17 -04:00
committed by Daniel Agar
parent 8b4566b6bb
commit 39c2f95669
8 changed files with 50 additions and 11 deletions
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src/modules/ekf2/EKF/airspeed_fusion.cpp
+1 -1
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@@ -57,7 +57,7 @@ void Ekf::controlAirDataFusion(const imuSample &imu_delayed)
const bool airspeed_timed_out = isTimedOut(_aid_src_airspeed.time_last_fuse, (uint64_t)10e6);
const bool sideslip_timed_out = isTimedOut(_aid_src_sideslip.time_last_fuse, (uint64_t)10e6);
if (_control_status.flags.fake_pos || (airspeed_timed_out && sideslip_timed_out && !(_params.fusion_mode & SensorFusionMask::USE_DRAG))) {
if (_control_status.flags.fake_pos || (airspeed_timed_out && sideslip_timed_out && (_params.drag_ctrl == 0))) {
_control_status.flags.wind = false;
}