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ekf2: add kconfig for magnetometer support (enabled by default)

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Daniel Agar
2023-09-15 10:02:09 -04:00
parent d1266c856f
commit 845b01a00d
16 changed files with 404 additions and 232 deletions
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src/modules/ekf2/EKF/control.cpp
+2
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@@ -102,8 +102,10 @@ void Ekf::controlFusionModes(const imuSample &imu_delayed)
}
}
#if defined(CONFIG_EKF2_MAGNETOMETER)
// control use of observations for aiding
controlMagFusion();
#endif // CONFIG_EKF2_MAGNETOMETER
#if defined(CONFIG_EKF2_OPTICAL_FLOW)
controlOpticalFlowFusion(imu_delayed);