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EKF: Add magnetometer fusion error handling

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Paul Riseborough
2016-01-28 09:53:55 +11:00
parent 39eef3a2d7
commit 802129f384
4 changed files with 387 additions and 331 deletions
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EKF/ekf.h
+1 -3
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@@ -91,8 +91,6 @@ private:
bool _fuse_hor_vel; // gps horizontal velocity measurement should be fused
bool _fuse_vert_vel; // gps vertical velocity measurement should be fused
uint8_t _mag_fuse_index; // counter for sequential mag axis fusion
uint64_t _time_last_fake_gps;
Vector3f _earth_rate_NED;
@@ -124,7 +122,7 @@ private:
void predictCovariance();
void fuseMag(uint8_t index);
void fuseMag();
void fuseHeading();