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ekf2: new kconfig to enable/disable GNSS (enabled by default)

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This commit is contained in:
Daniel Agar
2023-10-11 14:02:34 -04:00
committed by GitHub
parent 2d78383296
commit d2b3e7fe16
24 changed files with 476 additions and 331 deletions
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src/modules/ekf2/EKF/control.cpp
+3 -1
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@@ -92,7 +92,7 @@ void Ekf::controlFusionModes(const imuSample &imu_delayed)
}
ECL_INFO("%llu: EKF aligned, (%s hgt, IMU buf: %i, OBS buf: %i)",
(unsigned long long)imu_delayed.time_us, height_source, (int)_imu_buffer_length, (int)_obs_buffer_length);
(unsigned long long)imu_delayed.time_us, height_source, (int)_imu_buffer_length, (int)_obs_buffer_length);
ECL_DEBUG("tilt aligned, roll: %.3f, pitch %.3f, yaw: %.3f",
(double)matrix::Eulerf(_state.quat_nominal).phi(),
@@ -111,7 +111,9 @@ void Ekf::controlFusionModes(const imuSample &imu_delayed)
controlOpticalFlowFusion(imu_delayed);
#endif // CONFIG_EKF2_OPTICAL_FLOW
#if defined(CONFIG_EKF2_GNSS)
controlGpsFusion(imu_delayed);
#endif // CONFIG_EKF2_GNSS
#if defined(CONFIG_EKF2_AIRSPEED)
controlAirDataFusion(imu_delayed);