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ekf2: mag control always populate estimator aid src

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Daniel Agar
2024-05-17 11:19:04 +02:00
committed by Mathieu Bresciani
parent 95ae5a657d
commit bfc39cf341
3 changed files with 75 additions and 98 deletions
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src/modules/ekf2/EKF/ekf.h
+1 -1
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@@ -758,7 +758,7 @@ private:
#if defined(CONFIG_EKF2_MAGNETOMETER)
// ekf sequential fusion of magnetometer measurements
bool fuseMag(const Vector3f &mag, estimator_aid_source3d_s &aid_src_mag, bool update_all_states = true, bool update_tilt = true);
bool fuseMag(const Vector3f &mag, VectorState &H, estimator_aid_source3d_s &aid_src, bool update_all_states = true, bool update_tilt = true);
// fuse magnetometer declination measurement
// argument passed in is the declination uncertainty in radians