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ekf2: add kconfig to disable gravity fusion (#22231)

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Daniel Agar
2023-10-18 10:50:51 -04:00
committed by GitHub
parent 6eae9fb371
commit 3d238b0275
8 changed files with 67 additions and 31 deletions
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src/modules/ekf2/EKF/control.cpp
+3
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@@ -128,7 +128,10 @@ void Ekf::controlFusionModes(const imuSample &imu_delayed)
#endif // CONFIG_EKF2_DRAG_FUSION
controlHeightFusion(imu_delayed);
#if defined(CONFIG_EKF2_GRAVITY_FUSION)
controlGravityFusion(imu_delayed);
#endif // CONFIG_EKF2_GRAVITY_FUSION
#if defined(CONFIG_EKF2_EXTERNAL_VISION)
// Additional data odometry data from an external estimator can be fused.