fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 23:23:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF/fake_pos_control.cpp
+1 -1
View File
@@ -52,7 +52,7 @@ void Ekf::controlFakePosFusion()
Vector2f obs_var;
if (_control_status.flags.in_air && _control_status.flags.tilt_align) {
obs_var(0) = obs_var(1) = sq(fmaxf(_params.pos_noaid_noise, _params.gps_pos_noise));
obs_var(0) = obs_var(1) = sq(fmaxf(_params.pos_noaid_noise, 1.f));
} else if (!_control_status.flags.in_air && _control_status.flags.vehicle_at_rest) {
// Accelerate tilt fine alignment by fusing more