added parameter to disable usage of mgm4

2023-08-15 09:37:54 +02:00
parent 8447b3c41e
commit 7ab8fb8cb9
3 changed files with 5 additions and 1 deletions
--- a/mission/controller/acs/SensorProcessing.cpp
+++ b/mission/controller/acs/SensorProcessing.cpp
@ -101,7 +101,7 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
      sensorFusionDenominator[i] += 1 / mgmParameters->mgm13variance[i];
    }
  }
-  if (mgm4valid) {
+  if (mgm4valid and mgmParameters->useMgm4) {
    float mgm4ValueUT[3];
    VectorOperations<float>::mulScalar(mgm4Value, 1e-3, mgm4ValueUT, 3);  // nT to uT
    MatrixOperations<float>::multiply(mgmParameters->mgm4orientationMatrix[0], mgm4ValueUT,