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AP_NavEKF3: allow define for IMU_MASK_DEFAULT

This commit is contained in:
Josh Henderson 2021-11-29 00:01:21 -05:00 committed by Andrew Tridgell
parent 9f2082496c
commit a89f58a775
1 changed files with 6 additions and 1 deletions
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7
libraries/AP_NavEKF3/AP_NavEKF3.cpp
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@ -125,6 +125,11 @@
#define EK3_PRIMARY_DEFAULT 0
#endif
// This allows boards to default to using a specified number of IMUs and EKF lanes
#ifndef HAL_EKF_IMU_MASK_DEFAULT
#define HAL_EKF_IMU_MASK_DEFAULT 3 // Default to using two IMUs
#endif
// Define tuning parameters
const AP_Param::GroupInfo NavEKF3::var_info[] = {
@ -402,7 +407,7 @@ const AP_Param::GroupInfo NavEKF3::var_info[] = {
// @Bitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("IMU_MASK", 33, NavEKF3, _imuMask, 3),
AP_GROUPINFO("IMU_MASK", 33, NavEKF3, _imuMask, HAL_EKF_IMU_MASK_DEFAULT),
// @Param: CHECK_SCALE
// @DisplayName: GPS accuracy check scaler (%)