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ekf2: fix EV height bias predict call

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- needs to be called every iteration
This commit is contained in:
Daniel Agar
2024-02-20 11:47:53 -05:00
parent c221da27a7
commit 021dd0d0af
2 changed files with 2 additions and 1 deletions
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src/modules/ekf2/EKF/ev_control.cpp
+1
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@@ -41,6 +41,7 @@
void Ekf::controlExternalVisionFusion() void Ekf::controlExternalVisionFusion()
{ {
_ev_pos_b_est.predict(_dt_ekf_avg); _ev_pos_b_est.predict(_dt_ekf_avg);
_ev_hgt_b_est.predict(_dt_ekf_avg);
// Check for new external vision data // Check for new external vision data
extVisionSample ev_sample; extVisionSample ev_sample;
src/modules/ekf2/EKF/ev_height_control.cpp
+1 -1
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@@ -45,7 +45,7 @@ void Ekf::controlEvHeightFusion(const extVisionSample &ev_sample, const bool com
HeightBiasEstimator &bias_est = _ev_hgt_b_est; HeightBiasEstimator &bias_est = _ev_hgt_b_est;
bias_est.predict(_dt_ekf_avg); // bias_est.predict(_dt_ekf_avg) called by controlExternalVisionFusion()
// correct position for offset relative to IMU // correct position for offset relative to IMU
const Vector3f pos_offset_body = _params.ev_pos_body - _params.imu_pos_body; const Vector3f pos_offset_body = _params.ev_pos_body - _params.imu_pos_body;