|
|
@ -73,7 +73,7 @@ void Ekf::controlExternalVisionAiding() |
|
|
|
if (_time_last_imu - _time_last_ext_vision < 2 * EV_MAX_INTERVAL) { |
|
|
|
if (_time_last_imu - _time_last_ext_vision < 2 * EV_MAX_INTERVAL) { |
|
|
|
// turn on use of external vision measurements for position and height
|
|
|
|
// turn on use of external vision measurements for position and height
|
|
|
|
_control_status.flags.ev_pos = true; |
|
|
|
_control_status.flags.ev_pos = true; |
|
|
|
printf("EKF switching to external vision position fusion"); |
|
|
|
printf("EKF switching to external vision position fusion\n"); |
|
|
|
// turn off other forms of height aiding
|
|
|
|
// turn off other forms of height aiding
|
|
|
|
_control_status.flags.baro_hgt = false; |
|
|
|
_control_status.flags.baro_hgt = false; |
|
|
|
_control_status.flags.gps_hgt = false; |
|
|
|
_control_status.flags.gps_hgt = false; |
|
|
@ -109,7 +109,7 @@ void Ekf::controlExternalVisionAiding() |
|
|
|
|
|
|
|
|
|
|
|
// turn on fusion of external vision yaw measurements
|
|
|
|
// turn on fusion of external vision yaw measurements
|
|
|
|
_control_status.flags.ev_yaw = true; |
|
|
|
_control_status.flags.ev_yaw = true; |
|
|
|
printf("EKF switching to external vision yaw fusion"); |
|
|
|
printf("EKF switching to external vision yaw fusion\n"); |
|
|
|
} |
|
|
|
} |
|
|
|
} |
|
|
|
} |
|
|
|
|
|
|
|
|
|
|
|