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ekf2: move flow buffer pop to controlOpticalFlowFusion

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This commit is contained in:
Daniel Agar
2023-02-22 09:08:33 -05:00
parent ed8cef6cf0
commit 0711a34d0e
2 changed files with 9 additions and 9 deletions
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src/modules/ekf2/EKF/control.cpp
-9
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@@ -174,15 +174,6 @@ void Ekf::controlFusionModes(const imuSample &imu_delayed)
_control_status.flags.rng_kin_consistent = _rng_consistency_check.isKinematicallyConsistent();
}
if (_flow_buffer) {
// We don't fuse flow data immediately because we have to wait for the mid integration point to fall behind the fusion time horizon.
// This means we stop looking for new data until the old data has been fused, unless we are not fusing optical flow,
// in this case we need to empty the buffer
if (!_flow_data_ready || (!_control_status.flags.opt_flow && !_hagl_sensor_status.flags.flow)) {
_flow_data_ready = _flow_buffer->pop_first_older_than(imu_delayed.time_us, &_flow_sample_delayed);
}
}
if (_airspeed_buffer) {
_tas_data_ready = _airspeed_buffer->pop_first_older_than(imu_delayed.time_us, &_airspeed_sample_delayed);
}