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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/ekf.cpp
+4
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@@ -116,8 +116,12 @@ void Ekf::reset()
resetEstimatorAidStatus(_aid_src_baro_hgt);
resetEstimatorAidStatus(_aid_src_rng_hgt);
#if defined(CONFIG_EKF2_AIRSPEED)
resetEstimatorAidStatus(_aid_src_airspeed);
#endif // CONFIG_EKF2_AIRSPEED
#if defined(CONFIG_EKF2_SIDESLIP)
resetEstimatorAidStatus(_aid_src_sideslip);
#endif // CONFIG_EKF2_SIDESLIP
resetEstimatorAidStatus(_aid_src_fake_pos);
resetEstimatorAidStatus(_aid_src_fake_hgt);