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ekf2: symforce derivation allow optionally disabling mag and wind states

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This commit is contained in:
Daniel Agar
2023-10-10 17:31:11 -04:00
committed by GitHub
parent b5f3d089c4
commit 5352a64042
15 changed files with 162 additions and 73 deletions
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src/modules/ekf2/EKF/ekf.cpp
+2
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@@ -68,7 +68,9 @@ void Ekf::reset()
_state.mag_B.setZero();
#endif // CONFIG_EKF2_MAGNETOMETER
#if defined(CONFIG_EKF2_WIND)
_state.wind_vel.setZero();
#endif // CONFIG_EKF2_WIND
#if defined(CONFIG_EKF2_RANGE_FINDER)
_range_sensor.setPitchOffset(_params.rng_sens_pitch);