Diff: run.cpp

Revision:

83:e69ab831031c

Parent:

82:c183c29d2427

Child:

84:ff48e01ea76b

--- a/run.cpp	Thu Sep 16 09:30:21 2021 +0000
+++ b/run.cpp	Wed Sep 22 09:30:45 2021 +0000
@@ -54,10 +54,11 @@
         ekf.updateErrState(gyro,acc, att_dt);
         if(obsCount == 50){
             if(ekf.determinDynStatus(acc,accref)){
-                ekf.updateMeasures(gyro,acc,accref);
+                //ekf.updateMeasures(gyro,acc,accref);
             }else{
-                ekf.updateStaticMeasures(gyro,acc,accref);
+                //ekf.updateStaticMeasures(gyro,acc,accref);
             }
+            //ekf.updateGPSVelocity(vi.x,vi.y,vi.z);
             obsCount = 0;
         }else{
             if(ekf.determinDynStatus(acc,accref)){
@@ -69,13 +70,12 @@
         }
         
         ekf.updateGyroBiasConstraints(gyro);
-        ekf.updateVelocity(vi.y,vi.x,vi.z);
-        //ekf.updateVelocityConstraints();
-        //ekf.updateMagMeasures(mag);
+        //ekf.updateSinkRate(vi.z);
+        
         ekf.fuseErr2Nominal();
         ekf.resetBias();
         ekf.computeAngles(rpy, rpy_align);
-        ekf.computeVb(vb);
+        //ekf.computeVb(vb);
         PIDtick.loop(); 
         
         float tend = _t.read();