EKF: Clean up wind state activation logic

Ensure wind states are deactivated in one place and always when in a non-position mode.
Activate wind states separately for each observation method.
This commit is contained in:
Paul Riseborough
2020-12-08 18:03:04 -05:00
committed by Daniel Agar
parent 44ebfb8c43
commit ee94980a8f
2 changed files with 14 additions and 29 deletions
+1
View File
@@ -158,6 +158,7 @@ void Ekf::fuseAirspeed()
if (is_fused) {
_time_last_arsp_fuse = _time_last_imu;
_control_status.flags.fuse_aspd = true;
}
}