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EKF: set global origin method

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EKF: add convergence after global origin reset test
This commit is contained in:
Daniel Agar
2021-01-12 18:33:00 -05:00
parent 81937370ac
commit 63f64b57c1
7 changed files with 147 additions and 71 deletions
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EKF/control.cpp
+1 -1
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@@ -1131,7 +1131,7 @@ void Ekf::controlHeightFusion()
gps_hgt_innov_gate(1) = fmaxf(_params.baro_innov_gate, 1.0f);
// fuse height information
fuseVerticalPosition(_gps_pos_innov,gps_hgt_innov_gate,
gps_hgt_obs_var, _gps_pos_innov_var,_gps_pos_test_ratio);
gps_hgt_obs_var, _gps_pos_innov_var, _gps_pos_test_ratio);
} else if (_control_status.flags.rng_hgt) {
Vector2f rng_hgt_innov_gate;