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EKF: Update covariance prediction

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Refresh auto generated code
Make 3-axis accel fusion the default and no accel fusion the option
This commit is contained in:
Paul Riseborough
2016-05-05 21:23:03 +10:00
parent ecaffe63af
commit fc6c0c7ebf
2 changed files with 137 additions and 139 deletions
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EKF/common.h
+2 -2
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@@ -140,7 +140,7 @@ struct flowSample {
#define MASK_USE_GPS (1<<0) // set to true to use GPS data
#define MASK_USE_OF (1<<1) // set to true to use optical flow data
#define MASK_USE_3D_ACC_BIAS (1<<3) // set to true to estimate delta velocity bias for XYZ axes, set to false to estimate only for Z
#define MASK_INHIBIT_ACC_BIAS (1<<3) // set to true to inhibit estimation of accelerometer delta velocity bias
// Integer definitions for mag_fusion_type
#define MAG_FUSE_TYPE_AUTO 0 // The selection of either heading or 3D magnetometer fusion will be automatic
@@ -234,7 +234,7 @@ struct parameters {
parameters()
{
// measurement source control
fusion_mode = MASK_USE_GPS + MASK_USE_3D_ACC_BIAS;
fusion_mode = MASK_USE_GPS;
vdist_sensor_type = VDIST_SENSOR_BARO;
// measurement time delays