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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/test/sensor_simulator/ekf_wrapper.cpp
+2 -2
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@@ -285,12 +285,12 @@ matrix::Vector3f EkfWrapper::getDeltaVelBiasVariance() const
void EkfWrapper::enableDragFusion()
{
_ekf_params->fusion_mode |= SensorFusionMask::USE_DRAG;
_ekf_params->drag_ctrl = 1;
}
void EkfWrapper::disableDragFusion()
{
_ekf_params->fusion_mode &= ~SensorFusionMask::USE_DRAG;
_ekf_params->drag_ctrl = 0;
}
void EkfWrapper::setDragFusionParameters(const float &bcoef_x, const float &bcoef_y, const float &mcoef)