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sensors: move baro aggregation to new sensors/vehicle_air_data

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This commit is contained in:
Daniel Agar
2020-03-12 19:06:34 -04:00
parent 093e9ba1ce
commit 0eca583ecf
25 changed files with 479 additions and 276 deletions
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src/modules/ekf2/ekf2_main.cpp
+1 -1
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@@ -911,7 +911,7 @@ void Ekf2::Run()
if (_airdata_sub.copy(&airdata)) {
_ekf.set_air_density(airdata.rho);
const baroSample baro_sample {airdata.baro_alt_meter, airdata.timestamp};
const baroSample baro_sample {airdata.baro_alt_meter, airdata.timestamp_sample};
_ekf.setBaroData(baro_sample);
ekf2_timestamps.vehicle_air_data_timestamp_rel = (int16_t)((int64_t)airdata.timestamp / 100 -
(int64_t)ekf2_timestamps.timestamp / 100);