From a41f75ffb1b26ba8cb28ffccaf29fc0846183ea6 Mon Sep 17 00:00:00 2001 From: Roman Date: Fri, 8 Jan 2016 06:47:51 +0100 Subject: [PATCH] use full mag fusion --- EKF/ekf.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/EKF/ekf.cpp b/EKF/ekf.cpp index 1d0224caa8..58d76c0554 100644 --- a/EKF/ekf.cpp +++ b/EKF/ekf.cpp @@ -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)) {