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AHRS_DCM: integrate INS use_accel

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This commit is contained in:
Randy Mackay 2015-08-01 17:37:59 +09:00
parent 0b981d38e8
commit 7f46cc9059
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_AHRS/AP_AHRS_DCM.cpp
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@ -571,7 +571,7 @@ AP_AHRS_DCM::drift_correction(float deltat)
//update _accel_ef_blended
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
if (_ins.get_accel_count() == 2 && _ins.get_accel_health(0) && _ins.get_accel_health(1)) {
if (_ins.get_accel_count() == 2 && _ins.use_accel(0) && _ins.use_accel(1)) {
float imu1_weight_target = _active_accel_instance == 0 ? 1.0f : 0.0f;
// slew _imu1_weight over one second
_imu1_weight += constrain_float(imu1_weight_target-_imu1_weight, -deltat, deltat);