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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/test/test_EKF_basics.cpp
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@@ -108,6 +108,7 @@ TEST_F(EkfBasicsTest, initialControlMode)
EXPECT_EQ(1, (int) _ekf->control_status_flags().mag_hdg);
EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_3D);
EXPECT_EQ(1, (int) _ekf->control_status_flags().mag);
EXPECT_EQ(1, (int) _ekf->control_status_flags().mag_dec);
EXPECT_EQ(0, (int) _ekf->control_status_flags().in_air);
EXPECT_EQ(0, (int) _ekf->control_status_flags().wind);
EXPECT_EQ(1, (int) _ekf->control_status_flags().baro_hgt);