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adopted code for upstream changes

master
CarlOlsson 9 years ago committed by Lorenz Meier
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2 changed files with 16 additions and 9 deletions
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  1. 7
      EKF/common.h
  2. 14
      EKF/sideslip_fusion.cpp

7
EKF/common.h
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@ -413,9 +413,10 @@ union innovation_fault_status_u { @@ -413,9 +413,10 @@ union innovation_fault_status_u {
bool reject_mag_z: 1; // 5 - true if the Z magnetometer observation has been rejected
bool reject_yaw: 1; // 6 - true if the yaw observation has been rejected
bool reject_airspeed: 1; // 7 - true if the airspeed observation has been rejected
bool reject_hagl: 1; // 8 - true if the height above ground observation has been rejected
bool reject_optflow_X: 1; // 9 - true if the X optical flow observation has been rejected
bool reject_optflow_Y: 1; // 10 - true if the Y optical flow observation has been rejected
bool reject_sideslip: 1; // 8 - true if the synthetic sideslip observation has been rejected
bool reject_hagl: 1; // 9 - true if the height above ground observation has been rejected
bool reject_optflow_X: 1; // 10 - true if the X optical flow observation has been rejected
bool reject_optflow_Y: 1; // 11 - true if the Y optical flow observation has been rejected
} flags;
uint16_t value;

14
EKF/sideslip_fusion.cpp
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