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ekf2: integrate mag heading into mag 3D

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bresch
2024-03-25 11:57:27 +01:00
committed by Daniel Agar
parent 0c9e4013d2
commit 51883fe5d4
14 changed files with 66 additions and 265 deletions
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src/modules/ekf2/EKF2.cpp
-4
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@@ -335,7 +335,6 @@ bool EKF2::multi_init(int imu, int mag)
// mag advertise
if (_param_ekf2_mag_type.get() != MagFuseType::NONE) {
_estimator_aid_src_mag_heading_pub.advertise();
_estimator_aid_src_mag_pub.advertise();
}
@@ -874,9 +873,6 @@ void EKF2::PublishAidSourceStatus(const hrt_abstime &timestamp)
#endif // CONFIG_EKF2_GNSS
#if defined(CONFIG_EKF2_MAGNETOMETER)
// mag heading
PublishAidSourceStatus(_ekf.aid_src_mag_heading(), _status_mag_heading_pub_last, _estimator_aid_src_mag_heading_pub);
// mag 3d
PublishAidSourceStatus(_ekf.aid_src_mag(), _status_mag_pub_last, _estimator_aid_src_mag_pub);
#endif // CONFIG_EKF2_MAGNETOMETER