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use simple heading fusion

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Roman 2015-12-22 18:00:59 +01:00
parent 6b49e2495c
commit 457a57c6ff
2 changed files with 4 additions and 4 deletions
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6
EKF/ekf.cpp
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@ -85,9 +85,9 @@ bool Ekf::update()
// measurement updates
if (_mag_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_mag_sample_delayed)) {
//fuseHeading();
fuseMag(_mag_fuse_index);
_mag_fuse_index = (_mag_fuse_index + 1) % 3;
fuseHeading();
//fuseMag(_mag_fuse_index);
//_mag_fuse_index = (_mag_fuse_index + 1) % 3;
}
if (_baro_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_baro_sample_delayed)) {

2
EKF/estimator_base.cpp
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@ -311,7 +311,7 @@ void EstimatorBase::initialiseVariables(uint64_t time_usec)
_gps_speed_valid = false;
_mag_healthy = false;
_in_air = true; // XXX get this flag from the application
_in_air = false; // XXX get this flag from the application
_time_last_imu = 0;
_time_last_gps = 0;