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NavEKF: incorporate use_gyro and use_accel

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Randy Mackay 2015-08-01 17:36:18 +09:00
parent 1d752fc763
commit 456bde4986
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -4130,7 +4130,7 @@ void NavEKF::readIMUData()
// the imu sample time is used as a common time reference throughout the filter // the imu sample time is used as a common time reference throughout the filter
imuSampleTime_ms = hal.scheduler->millis(); imuSampleTime_ms = hal.scheduler->millis();
if (ins.get_accel_health(0) && ins.get_accel_health(1)) { if (ins.use_accel(0) && ins.use_accel(1)) {
// dual accel mode // dual accel mode
// read IMU1 delta velocity data // read IMU1 delta velocity data
readDeltaVelocity(0, dVelIMU1, dtDelVel1); readDeltaVelocity(0, dVelIMU1, dtDelVel1);
@ -4157,7 +4157,7 @@ void NavEKF::readIMUData()
dVelIMU2 = dVelIMU1; dVelIMU2 = dVelIMU1;
} }
if (ins.get_gyro_health(0) && ins.get_gyro_health(1)) { if (ins.use_gyro(0) && ins.use_gyro(1)) {
// dual gyro mode - average first two gyros // dual gyro mode - average first two gyros
Vector3f dAng; Vector3f dAng;
dAngIMU.zero(); dAngIMU.zero();