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ekf2: mag declination fusion always if there is no aiding

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Daniel Agar
2024-08-27 16:16:55 +02:00
committed by Mathieu Bresciani
parent 2a9e205442
commit ac48b8b51d
4 changed files with 21 additions and 16 deletions
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src/modules/ekf2/EKF/ekf.h
+2 -2
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@@ -772,8 +772,8 @@ private:
bool update_all_states = false, bool update_tilt = false);
// fuse magnetometer declination measurement
// declination uncertainty in radians
bool fuseDeclination(float decl_measurement_rad, float decl_sigma, bool update_all_states = false);
// R: declination observation variance (rad**2)
bool fuseDeclination(const float decl_measurement_rad, const float R, bool update_all_states = false);
#endif // CONFIG_EKF2_MAGNETOMETER