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ekf2: remove aid src status fusion_enabled flag

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This commit is contained in:
Daniel Agar
2023-09-26 10:30:16 -04:00
parent 99197919d7
commit 14a967e2ca
27 changed files with 105 additions and 137 deletions
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src/modules/ekf2/EKF/mag_heading_control.cpp
-3
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@@ -97,7 +97,6 @@ void Ekf::controlMagHeadingFusion(const magSample &mag_sample, const bool common
&& isTimedOut(aid_src.time_last_fuse, 3e6);
if (_control_status.flags.mag_hdg) {
aid_src.fusion_enabled = true;
aid_src.timestamp_sample = mag_sample.time_us;
if (continuing_conditions_passing && _control_status.flags.yaw_align) {
@@ -185,8 +184,6 @@ void Ekf::controlMagHeadingFusion(const magSample &mag_sample, const bool common
}
}
aid_src.fusion_enabled = _control_status.flags.mag_hdg;
// record corresponding mag heading and yaw state for future mag heading delta heading innovation (logging only)
_mag_heading_prev = measured_hdg;
_mag_heading_pred_prev = getEulerYaw(_state.quat_nominal);