fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-24 12:43:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF/estimator_interface.h
+4
View File
@@ -102,7 +102,9 @@ public:
// set external vision position and attitude data
void setExtVisionData(const extVisionSample &evdata);
#if defined(CONFIG_EKF2_AUXVEL)
void setAuxVelData(const auxVelSample &auxvel_sample);
#endif // CONFIG_EKF2_AUXVEL
void setSystemFlagData(const systemFlagUpdate &system_flags);
@@ -357,7 +359,9 @@ protected:
#endif // CONFIG_EKF2_AIRSPEED
RingBuffer<flowSample> *_flow_buffer{nullptr};
RingBuffer<extVisionSample> *_ext_vision_buffer{nullptr};
#if defined(CONFIG_EKF2_AUXVEL)
RingBuffer<auxVelSample> *_auxvel_buffer{nullptr};
#endif // CONFIG_EKF2_AUXVEL
RingBuffer<systemFlagUpdate> *_system_flag_buffer{nullptr};
uint64_t _time_last_gps_buffer_push{0};