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EV HGT bias est predict central

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This commit is contained in:
Daniel Agar
2022-11-08 12:13:18 -05:00
parent 77042cf6d7
commit 12ba97f4ed
2 changed files with 2 additions and 2 deletions
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src/modules/ekf2/EKF/ev_control.cpp
+1
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@@ -41,6 +41,7 @@
void Ekf::controlExternalVisionFusion()
{
_ev_pos_b_est.predict(_dt_ekf_avg);
_ev_hgt_b_est.predict(_dt_ekf_avg);
// Check for new external vision data
extVisionSample ev_sample;
src/modules/ekf2/EKF/ev_height_control.cpp
+1 -2
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@@ -44,8 +44,7 @@ void Ekf::controlEvHeightFusion(const extVisionSample &ev_sample, bool starting_
static constexpr const char *AID_SRC_NAME = "EV height";
HeightBiasEstimator &bias_est = _ev_hgt_b_est;
bias_est.predict(_dt_ekf_avg);
//bias_est.predict(_dt_ekf_avg); // handled by controlExternalVisionFusion()
// correct position for offset relative to IMU
const Vector3f pos_offset_body = _params.ev_pos_body - _params.imu_pos_body;