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EKF; Treat combined sideslip and airspeed as a horizontal aiding source

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This commit is contained in:
Paul Riseborough
2020-12-15 20:51:28 +11:00
committed by Paul Riseborough
parent 211c84c85b
commit c65cf13bb8
1 changed files with 4 additions and 1 deletions
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EKF/estimator_interface.cpp
+4 -1
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@@ -547,7 +547,10 @@ int EstimatorInterface::getNumberOfActiveHorizontalAidingSources() const
return int(_control_status.flags.gps)
+ int(_control_status.flags.opt_flow)
+ int(_control_status.flags.ev_pos)
+ int(_control_status.flags.ev_vel);
+ int(_control_status.flags.ev_vel)
// Combined airspeed and sideslip fusion allows sustained wind relative dead reckoning
// and so is treated as a single aiding source.
+ int(_control_status.flags.fuse_aspd && _control_status.flags.fuse_beta);
}
bool EstimatorInterface::isHorizontalAidingActive() const