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ekf2: consider GNSS vel as horizontal velocity aiding

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bresch 2025-03-14 16:25:28 +01:00 committed by Mathieu Bresciani
parent e0d15b7a80
commit 9ac03f03eb
1 changed files with 2 additions and 1 deletions
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3
src/modules/ekf2/EKF/estimator_interface.cpp
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@ -624,7 +624,8 @@ int EstimatorInterface::getNumberOfActiveHorizontalPositionAidingSources() const
int EstimatorInterface::getNumberOfActiveHorizontalVelocityAidingSources() const
{
return int(_control_status.flags.opt_flow)
return int(_control_status.flags.gnss_vel)
+ int(_control_status.flags.opt_flow)
+ int(_control_status.flags.ev_vel)
// Combined airspeed and sideslip fusion allows sustained wind relative dead reckoning
// and so is treated as a single aiding source.