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ekf2: add kconfig option to enable/disable external vision fusion

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This commit is contained in:
Daniel Agar
2023-03-20 10:12:17 -04:00
parent d47f96f1a5
commit 4363b09421
17 changed files with 209 additions and 68 deletions
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src/modules/ekf2/EKF/control.cpp
+2
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@@ -122,8 +122,10 @@ void Ekf::controlFusionModes(const imuSample &imu_delayed)
controlHeightFusion(imu_delayed);
controlGravityFusion(imu_delayed);
#if defined(CONFIG_EKF2_EXTERNAL_VISION)
// Additional data odometry data from an external estimator can be fused.
controlExternalVisionFusion();
#endif // CONFIG_EKF2_EXTERNAL_VISION
#if defined(CONFIG_EKF2_AUXVEL)
// Additional horizontal velocity data from an auxiliary sensor can be fused