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chonky #670

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muellerr merged 278 commits from v3.0.0-dev into main 2023-06-11 14:25:21 +02:00
Conversation 1 Commits 278 Files Changed 71 +1 -3
1 changed files with 1 additions and 3 deletions
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mission/controller/acs/Navigation.cpp
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@ -19,9 +19,7 @@ ReturnValue_t Navigation::useMekf(ACS::SensorValues *sensorValues,
acsctrl::MekfData *mekfData, AcsParameters *acsParameters) {
double quatIB[4] = {sensorValues->strSet.caliQx.value, sensorValues->strSet.caliQy.value,
sensorValues->strSet.caliQz.value, sensorValues->strSet.caliQw.value};
bool quatIBValid = sensorValues->strSet.caliQx.isValid() &&
sensorValues->strSet.caliQy.isValid() &&
sensorValues->strSet.caliQz.isValid() && sensorValues->strSet.caliQw.isValid();
bool quatIBValid = sensorValues->strSet.isTrustWorthy.value;
if (mekfStatus == MultiplicativeKalmanFilter::MEKF_UNINITIALIZED) {
mekfStatus = multiplicativeKalmanFilter.init(