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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/ekf.cpp
+2
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@@ -126,10 +126,12 @@ void Ekf::reset()
resetEstimatorAidStatus(_aid_src_fake_pos);
resetEstimatorAidStatus(_aid_src_fake_hgt);
#if defined(CONFIG_EKF2_EXTERNAL_VISION)
resetEstimatorAidStatus(_aid_src_ev_hgt);
resetEstimatorAidStatus(_aid_src_ev_pos);
resetEstimatorAidStatus(_aid_src_ev_vel);
resetEstimatorAidStatus(_aid_src_ev_yaw);
#endif // CONFIG_EKF2_EXTERNAL_VISION
resetEstimatorAidStatus(_aid_src_gnss_hgt);
resetEstimatorAidStatus(_aid_src_gnss_pos);