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use full mag fusion

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Roman
2016-01-08 06:59:10 +01:00
parent f8354bb5e9
commit a41f75ffb1
1 changed files with 3 additions and 3 deletions
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EKF/ekf.cpp
+3 -3
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@@ -89,9 +89,9 @@ bool Ekf::update()
// measurement updates // measurement updates
if (_mag_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_mag_sample_delayed)) { if (_mag_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_mag_sample_delayed)) {
fuseHeading(); //fuseHeading();
//fuseMag(_mag_fuse_index); fuseMag(_mag_fuse_index);
//_mag_fuse_index = (_mag_fuse_index + 1) % 3; _mag_fuse_index = (_mag_fuse_index + 1) % 3;
} }
if (_baro_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_baro_sample_delayed)) { if (_baro_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_baro_sample_delayed)) {