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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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EKF/ekf.cpp
+3 -3
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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)) {