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ekf2 airspeed fusion:

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- finished logic for fusion
- fixed bug where previous control status was set in the wrong location
This commit is contained in:
Roman Bapst
2016-04-05 15:14:04 +02:00
parent 60abf07bee
commit 99fc61c27c
8 changed files with 172 additions and 83 deletions
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EKF/ekf.cpp
+2 -1
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@@ -56,6 +56,7 @@ Ekf::Ekf():
_time_last_vel_fuse(0),
_time_last_hgt_fuse(0),
_time_last_of_fuse(0),
_time_last_arsp_fuse(0),
_last_disarmed_posD(0.0f),
_airspeed_innov(0.0f),
_airspeed_innov_var(0.0f),
@@ -326,7 +327,7 @@ bool Ekf::update()
}
// TODO This is just to get the logic inside but we will only start fusion once we tested this again
if (_airspeed_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_airspeed_sample_delayed) && false) {
if (_airspeed_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_airspeed_sample_delayed)) {
fuseAirspeed();
}
}