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

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This commit is contained in:
Daniel Agar
2023-08-31 12:46:01 -04:00
parent d1266c856f
commit 845b01a00d
16 changed files with 404 additions and 232 deletions
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src/modules/ekf2/EKF/ekf.cpp
+5
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@@ -110,7 +110,10 @@ void Ekf::reset()
_gps_alt_ref = NAN;
_baro_counter = 0;
#if defined(CONFIG_EKF2_MAGNETOMETER)
_mag_counter = 0;
#endif // CONFIG_EKF2_MAGNETOMETER
_time_bad_vert_accel = 0;
_time_good_vert_accel = 0;
@@ -142,8 +145,10 @@ void Ekf::reset()
resetEstimatorAidStatus(_aid_src_gnss_yaw);
#endif // CONFIG_EKF2_GNSS_YAW
#if defined(CONFIG_EKF2_MAGNETOMETER)
resetEstimatorAidStatus(_aid_src_mag_heading);
resetEstimatorAidStatus(_aid_src_mag);
#endif // CONFIG_EKF2_MAGNETOMETER
#if defined(CONFIG_EKF2_AUXVEL)
resetEstimatorAidStatus(_aid_src_aux_vel);