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ekf2: add kconfig option to enable/disable GNSS yaw

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This commit is contained in:
Daniel Agar
2023-03-20 10:12:17 -04:00
parent 8b2205810b
commit 98ff1afc19
13 changed files with 142 additions and 65 deletions
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src/modules/ekf2/CMakeLists.txt
+4 -1
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@@ -88,7 +88,6 @@ list(APPEND EKF_SRCS
EKF/gnss_height_control.cpp
EKF/gps_checks.cpp
EKF/gps_control.cpp
EKF/gps_yaw_fusion.cpp
EKF/gravity_fusion.cpp
EKF/height_control.cpp
EKF/imu_down_sampler.cpp
@@ -111,6 +110,10 @@ if(CONFIG_EKF2_DRAG_FUSION)
list(APPEND EKF_SRCS EKF/drag_fusion.cpp)
endif()
if(CONFIG_EKF2_GNSS_YAW)
list(APPEND EKF_SRCS EKF/gps_yaw_fusion.cpp)
endif()
px4_add_module(
MODULE modules__ekf2
MAIN ekf2