From 27b894540ed9f4a87e02f1958a396664b3c7d6bd Mon Sep 17 00:00:00 2001 From: Roman Bapst Date: Wed, 30 Mar 2016 16:57:40 +0200 Subject: [PATCH] put airspeed fusion logic but don't actually call it yet --- EKF/ekf.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/EKF/ekf.cpp b/EKF/ekf.cpp index c891c45181..07ccb422c2 100644 --- a/EKF/ekf.cpp +++ b/EKF/ekf.cpp @@ -305,6 +305,11 @@ bool Ekf::update() _last_known_posNE(1) = _state.pos(1); _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) && false) { + fuseAirspeed(); + } } // the output observer always runs