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ekf2: reinit baro height on sensor or calibration change

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- handle reset on delayed time horizon
This commit is contained in:
Daniel Agar
2022-12-21 17:09:41 -05:00
parent 0e2df5a152
commit 20a1c73cf0
4 changed files with 9 additions and 11 deletions
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src/modules/ekf2/EKF/estimator_interface.cpp
+1 -2
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@@ -229,9 +229,8 @@ void EstimatorInterface::setBaroData(const baroSample &baro_sample)
// limit data rate to prevent data being lost
if (time_us >= static_cast<int64_t>(_baro_buffer->get_newest().time_us + _min_obs_interval_us)) {
baroSample baro_sample_new;
baroSample baro_sample_new{baro_sample};
baro_sample_new.time_us = time_us;
baro_sample_new.hgt = baro_sample.hgt;
_baro_buffer->push(baro_sample_new);
_time_last_baro_buffer_push = _newest_high_rate_imu_sample.time_us;