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ekf2: consider GNSS vel as horizontal velocity aiding
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This commit is contained in:
bresch
committed by
Mathieu Bresciani
Mathieu Bresciani
parent
e0d15b7a80
commit
9ac03f03eb
@@ -624,7 +624,8 @@ int EstimatorInterface::getNumberOfActiveHorizontalPositionAidingSources() const
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int EstimatorInterface::getNumberOfActiveHorizontalVelocityAidingSources() const
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{
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return int(_control_status.flags.opt_flow)
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return int(_control_status.flags.gnss_vel)
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+ int(_control_status.flags.opt_flow)
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+ int(_control_status.flags.ev_vel)
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// Combined airspeed and sideslip fusion allows sustained wind relative dead reckoning
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// and so is treated as a single aiding source.
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