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ekf2: mag field strength check respect requirements

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- requires valid mag data (_mag_data_ready)
 - respect mag_fusion_type (including MAG_FUSE_TYPE_INDOOR)
This commit is contained in:
Daniel Agar
2022-01-27 09:05:13 -05:00
parent 0ddf76ed7f
commit f499749c23
2 changed files with 16 additions and 23 deletions
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src/modules/ekf2/EKF/ekf.h
-2
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@@ -852,8 +852,6 @@ private:
bool shouldInhibitMag() const;
void checkMagFieldStrength();
bool isStrongMagneticDisturbance() const { return _control_status.flags.mag_field_disturbed; }
bool isMeasuredMatchingGpsMagStrength() const;
bool isMeasuredMatchingAverageMagStrength() const;
static bool isMeasuredMatchingExpected(float measured, float expected, float gate);
void runMagAndMagDeclFusions();
void run3DMagAndDeclFusions();