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gps blend: add parameter to select the primary instance

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bresch
2021-01-30 11:32:47 +01:00
committed by Lorenz Meier
parent 889602ed5e
commit 6abbbdeb4b
5 changed files with 34 additions and 7 deletions
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src/modules/sensors/vehicle_gps_position/VehicleGPSPosition.cpp
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@@ -97,6 +97,7 @@ void VehicleGPSPosition::ParametersUpdate(bool force)
_gps_blending.setBlendingUseHPosAccuracy(_param_sens_gps_mask.get() & BLEND_MASK_USE_HPOS_ACC);
_gps_blending.setBlendingUseVPosAccuracy(_param_sens_gps_mask.get() & BLEND_MASK_USE_VPOS_ACC);
_gps_blending.setBlendingTimeConstant(_param_sens_gps_tau.get());
_gps_blending.setPrimaryInstance(_param_sens_gps_prime.get());
}
}