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Merge pull request #158 from CarlOlsson/act_ars_off_by_default 

activate tas fusion, off by default
This commit is contained in:
Paul Riseborough 2016-06-08 14:17:31 +10:00
parent e72788bd0f eded0a8f7e
commit 2024252d65
1 changed files with 2 additions and 3 deletions
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5
EKF/ekf.cpp
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@ -365,9 +365,8 @@ bool Ekf::update()
_fuse_flow = false;
}
// TODO This is just to get the logic inside but we will only start fusion once we tested this again
//if (_airspeed_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_airspeed_sample_delayed)) {
if (false) {
// If we are using airspeed measurements and data has fallen behind the fusion time horizon then fuse it
if (_airspeed_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_airspeed_sample_delayed)) {
fuseAirspeed();
}
}