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ekf2: add kconfig option to enable/disable AUX velocity fusion

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This commit is contained in:
Daniel Agar
2023-03-20 10:12:17 -04:00
parent 4270a303ab
commit d47f96f1a5
13 changed files with 84 additions and 11 deletions
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src/modules/ekf2/EKF/ekf.cpp
+2
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@@ -142,7 +142,9 @@ void Ekf::reset()
resetEstimatorAidStatus(_aid_src_mag_heading);
resetEstimatorAidStatus(_aid_src_mag);
#if defined(CONFIG_EKF2_AUXVEL)
resetEstimatorAidStatus(_aid_src_aux_vel);
#endif // CONFIG_EKF2_AUXVEL
resetEstimatorAidStatus(_aid_src_optical_flow);
resetEstimatorAidStatus(_aid_src_terrain_optical_flow);