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AHRS_NavEKF: integrate INS use_accel

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This commit is contained in:
Randy Mackay 2015-08-01 17:38:22 +09:00
parent 7f46cc9059
commit a7569e3a61
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -133,7 +133,7 @@ void AP_AHRS_NavEKF::update(void)
}
}
if(_ins.get_accel_health(0) && _ins.get_accel_health(1)) {
if(_ins.use_accel(0) && _ins.use_accel(1)) {
float IMU1_weighting;
EKF.getIMU1Weighting(IMU1_weighting);
_accel_ef_ekf_blended = _accel_ef_ekf[0] * IMU1_weighting + _accel_ef_ekf[1] * (1.0f-IMU1_weighting);