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ekf2: add kconfig option to enable/disable baro compensation

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This commit is contained in:
Daniel Agar
2023-03-14 10:03:41 -04:00
parent fe0e3acf09
commit 8b2205810b
6 changed files with 16 additions and 0 deletions
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src/modules/ekf2/EKF2.cpp
+2
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@@ -167,12 +167,14 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
_param_ekf2_bcoef_y(_params->bcoef_y),
_param_ekf2_mcoef(_params->mcoef),
#endif // CONFIG_EKF2_DRAG_FUSION
#if defined(CONFIG_EKF2_BARO_COMPENSATION)
_param_ekf2_aspd_max(_params->max_correction_airspeed),
_param_ekf2_pcoef_xp(_params->static_pressure_coef_xp),
_param_ekf2_pcoef_xn(_params->static_pressure_coef_xn),
_param_ekf2_pcoef_yp(_params->static_pressure_coef_yp),
_param_ekf2_pcoef_yn(_params->static_pressure_coef_yn),
_param_ekf2_pcoef_z(_params->static_pressure_coef_z),
#endif // CONFIG_EKF2_BARO_COMPENSATION
_param_ekf2_mag_check(_params->check_mag_strength),
_param_ekf2_synthetic_mag_z(_params->synthesize_mag_z),
_param_ekf2_gsf_tas_default(_params->EKFGSF_tas_default)