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Dependencies: mbed MatrixMath LPS25HB_I2C LSM9DS1 Matrix2 PIDcontroller LoopTicker SBUS_without_mainfile UsaPack solaESKF_wind Vector3 CalibrateMagneto FastPWM
Diff: run.cpp
- Revision:
- 76:f6617891a867
- Parent:
- 73:be7a8b8188de
- Child:
- 79:aa2631950f46
--- a/run.cpp Wed Sep 01 04:56:47 2021 +0000
+++ b/run.cpp Tue Sep 07 06:19:42 2021 +0000
@@ -94,6 +94,8 @@
obsCount += 1;
}
+ ekf.updateGPSVelocity(0.0f,0.0f);
+
ekf.updateGyroBiasConstraints(gyro);
ekf.fuseErr2Nominal();
ekf.resetBias();