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ekf2: add missing mag fuse type in enum

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bresch 2022-07-15 14:20:08 +02:00 committed by Mathieu Bresciani
parent f9b8ca1326
commit 8cc6d02af3
1 changed files with 3 additions and 2 deletions
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src/modules/ekf2/EKF/common.h
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@ -88,8 +88,9 @@ enum MagFuseType : uint8_t {
AUTO = 0, ///< The selection of either heading or 3D magnetometer fusion will be automatic
HEADING = 1, ///< Simple yaw angle fusion will always be used. This is less accurate, but less affected by earth field distortions. It should not be used for pitch angles outside the range from -60 to +60 deg
MAG_3D = 2, ///< Magnetometer 3-axis fusion will always be used. This is more accurate, but more affected by localised earth field distortions
INDOOR = 3, ///< The same as option 0, but magnetometer or yaw fusion will not be used unless earth frame external aiding (GPS or External Vision) is being used. This prevents inconsistent magnetic fields associated with indoor operation degrading state estimates.
NONE = 4 ///< Do not use magnetometer under any circumstance. Other sources of yaw may be used if selected via the EKF2_AID_MASK parameter.
UNUSED = 3, ///< Not implemented
INDOOR = 4, ///< The same as option 0, but magnetometer or yaw fusion will not be used unless earth frame external aiding (GPS or External Vision) is being used. This prevents inconsistent magnetic fields associated with indoor operation degrading state estimates.
NONE = 5 ///< Do not use magnetometer under any circumstance. Other sources of yaw may be used if selected via the EKF2_AID_MASK parameter.
};
enum TerrainFusionMask : uint8_t {