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ekf2: move estimator innovations publication to method

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Daniel Agar
2020-11-11 20:17:52 -05:00
parent 387186c11d
commit 05de61ff15
2 changed files with 40 additions and 35 deletions
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src/modules/ekf2/EKF2.hpp
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@@ -137,6 +137,7 @@ private:
void PublishAttitude(const hrt_abstime &timestamp);
void PublishEkfDriftMetrics(const hrt_abstime &timestamp);
void PublishGlobalPosition(const hrt_abstime &timestamp);
void PublishInnovations(const hrt_abstime &timestamp, const imuSample &imu);
void PublishInnovationTestRatios(const hrt_abstime &timestamp);
void PublishInnovationVariances(const hrt_abstime &timestamp);
void PublishLocalPosition(const hrt_abstime &timestamp);