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put airspeed fusion logic but don't actually call it yet

This commit is contained in:
Roman Bapst 2016-03-30 16:57:40 +02:00
parent 1b7115dec9
commit 27b894540e
1 changed files with 5 additions and 0 deletions
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5
EKF/ekf.cpp
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@ -305,6 +305,11 @@ bool Ekf::update()
_last_known_posNE(1) = _state.pos(1); _last_known_posNE(1) = _state.pos(1);
_fuse_flow = false; _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 // the output observer always runs