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ekf2: add kconfig option to enable/disable airspeed and sideslip fusion

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This commit is contained in:
Daniel Agar
2023-03-20 10:12:17 -04:00
parent 98ff1afc19
commit 4270a303ab
16 changed files with 218 additions and 83 deletions
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src/modules/ekf2/EKF/control.cpp
+6
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@@ -106,8 +106,14 @@ void Ekf::controlFusionModes(const imuSample &imu_delayed)
controlMagFusion();
controlOpticalFlowFusion(imu_delayed);
controlGpsFusion(imu_delayed);
#if defined(CONFIG_EKF2_AIRSPEED)
controlAirDataFusion(imu_delayed);
#endif // CONFIG_EKF2_AIRSPEED
#if defined(CONFIG_EKF2_SIDESLIP)
controlBetaFusion(imu_delayed);
#endif // CONFIG_EKF2_SIDESLIP
#if defined(CONFIG_EKF2_DRAG_FUSION)
controlDragFusion();