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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/gps_control.cpp
+3 -5
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@@ -400,12 +400,9 @@ void Ekf::controlGpsYawFusion(const gpsSample &gps_sample, bool gps_checks_passi
stopGpsYawFusion();
}
}
#endif // CONFIG_EKF2_GNSS_YAW
void Ekf::stopGpsYawFusion()
{
#if defined(CONFIG_EKF2_GNSS_YAW)
if (_control_status.flags.gps_yaw) {
_control_status.flags.gps_yaw = false;
@@ -421,9 +418,8 @@ void Ekf::stopGpsYawFusion()
ECL_INFO("stopping GPS yaw fusion");
}
}
#endif // CONFIG_EKF2_GNSS_YAW
}
#endif // CONFIG_EKF2_GNSS_YAW
void Ekf::stopGpsFusion()
{
@@ -436,5 +432,7 @@ void Ekf::stopGpsFusion()
}
stopGpsHgtFusion();
#if defined(CONFIG_EKF2_GNSS_YAW)
stopGpsYawFusion();
#endif // CONFIG_EKF2_GNSS_YAW
}