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ekf2: auxiliary position fusion

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Co-authored-by: Daniel Agar <daniel@agar.ca>
This commit is contained in:
bresch
2023-12-01 11:50:22 +01:00
committed by Mathieu Bresciani
co-authored by Daniel Agar
parent aaefc36cad
commit fe7988672f
22 changed files with 379 additions and 8 deletions
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src/modules/ekf2/EKF/control.cpp
+4
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@@ -115,6 +115,10 @@ void Ekf::controlFusionModes(const imuSample &imu_delayed)
controlGpsFusion(imu_delayed);
#endif // CONFIG_EKF2_GNSS
#if defined(CONFIG_EKF2_AUX_GLOBAL_POSITION) && defined(MODULE_NAME)
_aux_global_position.update(*this, imu_delayed);
#endif // CONFIG_EKF2_AUX_GLOBAL_POSITION
#if defined(CONFIG_EKF2_AIRSPEED)
controlAirDataFusion(imu_delayed);
#endif // CONFIG_EKF2_AIRSPEED