fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-02 05:04:08 +08:00
Code Issues Packages Projects Releases Wiki Activity

use full mag fusion

Browse Source
This commit is contained in:
Roman 2016-01-08 06:47:51 +01:00
parent f8354bb5e9
commit a41f75ffb1
1 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
EKF/ekf.cpp
View File

@ -89,9 +89,9 @@ bool Ekf::update()
// measurement updates
if (_mag_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_mag_sample_delayed)) {
fuseHeading();
//fuseMag(_mag_fuse_index);
//_mag_fuse_index = (_mag_fuse_index + 1) % 3;
//fuseHeading();
fuseMag(_mag_fuse_index);
_mag_fuse_index = (_mag_fuse_index + 1) % 3;
}
if (_baro_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_baro_sample_delayed)) {