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added param to disable str input for mekf
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Marius Eggert
2024-03-15 13:16:38 +01:00
parent 158927ce5c
commit c4680f85bb
7 changed files with 16 additions and 8 deletions
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3
mission/controller/AcsController.cpp
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@ -180,7 +180,8 @@ void AcsController::performAttitudeControl() {
mode, &susDataProcessed, &mgmDataProcessed, &gyrDataProcessed, &sensorValues,
&attitudeEstimationData, timeDelta, &fusedRotRateSourcesData, &fusedRotRateData);
result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
&susDataProcessed, timeDelta, &attitudeEstimationData);
&susDataProcessed, timeDelta, &attitudeEstimationData,
acsParameters.kalmanFilterParameters.allowStr);
if (result != MultiplicativeKalmanFilter::MEKF_RUNNING and
result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {