Mirrors_Framework/PX4-Autopilot
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added logic for beta fusion

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CarlOlsson
2016-06-08 19:57:44 +02:00
committed by Lorenz Meier
parent f00f6e6eff
commit e4f5710ec3
1 changed files with 4 additions and 0 deletions
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src/modules/ekf2/ekf2_main.cpp
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@@ -628,6 +628,10 @@ void Ekf2::task_main()
_ekf.setAirspeedData(airspeed.timestamp, &airspeed.true_airspeed_m_s, &eas2tas); _ekf.setAirspeedData(airspeed.timestamp, &airspeed.true_airspeed_m_s, &eas2tas);
} }
// only fuse synthetic sideslip measurements if conditions are met
bool fuse_beta = !vehicle_status.is_rotary_wing && _fuseBeta.get();
_ekf.set_fuse_beta_flag(fuse_beta);
if (optical_flow_updated) { if (optical_flow_updated) {
flow_message flow; flow_message flow;
flow.flowdata(0) = optical_flow.pixel_flow_x_integral; flow.flowdata(0) = optical_flow.pixel_flow_x_integral;