Browse Source

put airspeed fusion logic but don't actually call it yet

master
Roman Bapst 9 years ago
parent
commit
27b894540e
  1. 5
      EKF/ekf.cpp

5
EKF/ekf.cpp

@ -305,6 +305,11 @@ bool Ekf::update()
_last_known_posNE(1) = _state.pos(1); _last_known_posNE(1) = _state.pos(1);
_fuse_flow = false; _fuse_flow = false;
} }
// TODO This is just to get the logic inside but we will only start fusion once we tested this again
if (_airspeed_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_airspeed_sample_delayed) && false) {
fuseAirspeed();
}
} }
// the output observer always runs // the output observer always runs

Loading…
Cancel
Save