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ekf2: move drag fusion activation from AID_MASK to DRAG_CTRL

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bresch
2023-04-26 15:42:24 +02:00
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/estimator_interface.cpp
+1 -1
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@@ -480,7 +480,7 @@ void EstimatorInterface::setDragData(const imuSample &imu)
{
// down-sample the drag specific force data by accumulating and calculating the mean when
// sufficient samples have been collected
if ((_params.fusion_mode & SensorFusionMask::USE_DRAG)) {
if (_params.drag_ctrl > 0) {
// Allocate the required buffer size if not previously done
if (_drag_buffer == nullptr) {