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ekf2: add kconfig option to enable/disable GNSS yaw

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This commit is contained in:
Daniel Agar
2023-03-14 10:35:21 -04:00
parent 8b2205810b
commit 98ff1afc19
13 changed files with 142 additions and 65 deletions
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src/modules/ekf2/EKF/ekf.cpp
+3
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@@ -130,7 +130,10 @@ void Ekf::reset()
resetEstimatorAidStatus(_aid_src_gnss_hgt);
resetEstimatorAidStatus(_aid_src_gnss_pos);
resetEstimatorAidStatus(_aid_src_gnss_vel);
#if defined(CONFIG_EKF2_GNSS_YAW)
resetEstimatorAidStatus(_aid_src_gnss_yaw);
#endif // CONFIG_EKF2_GNSS_YAW
resetEstimatorAidStatus(_aid_src_mag_heading);
resetEstimatorAidStatus(_aid_src_mag);