ekf2: add kconfig option to enable/disable drag fusion

2026-10-22 20:13:33 +08:00 · 2023-03-20 10:12:17 -04:00
parent 9a56b0a70d
commit fe0e3acf09
11 changed files with 115 additions and 55 deletions
@@ -108,7 +108,11 @@ void Ekf::controlFusionModes(const imuSample &imu_delayed)
 	controlGpsFusion(imu_delayed);
 	controlAirDataFusion(imu_delayed);
 	controlBetaFusion(imu_delayed);
+
+#if defined(CONFIG_EKF2_DRAG_FUSION)
 	controlDragFusion();
+#endif // CONFIG_EKF2_DRAG_FUSION
+
 	controlHeightFusion(imu_delayed);
 	controlGravityFusion(imu_delayed);