fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 20:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: use estimator_aid_src for all yaw sources (mag, gnss, ev)

Browse Source
This commit is contained in:
Daniel Agar
2022-07-29 11:20:48 -04:00
parent d5d88cba5b
commit a397c09e59
16 changed files with 334 additions and 155 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF/gps_control.cpp
+1 -4
View File
@@ -49,10 +49,7 @@ void Ekf::controlGpsFusion()
// Check for new GPS data that has fallen behind the fusion time horizon
if (_gps_data_ready) {
// reset flags
resetEstimatorAidStatusFlags(_aid_src_gnss_vel);
resetEstimatorAidStatusFlags(_aid_src_gnss_pos);
updateGpsYaw(_gps_sample_delayed);
updateGpsVel(_gps_sample_delayed);
updateGpsPos(_gps_sample_delayed);