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ekf2: velocity/position fusion helper minor consistency cleanup

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This commit is contained in:
Daniel Agar
2024-02-20 13:16:24 -05:00
parent c338891677
commit 22b957696d
4 changed files with 66 additions and 66 deletions
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src/modules/ekf2/EKF/auxvel_fusion.cpp
+2 -2
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@@ -42,10 +42,10 @@ void Ekf::controlAuxVelFusion()
resetEstimatorAidStatus(_aid_src_aux_vel);
updateVelocityAidSrcStatus(auxvel_sample_delayed.time_us, auxvel_sample_delayed.vel, auxvel_sample_delayed.velVar, fmaxf(_params.auxvel_gate, 1.f), _aid_src_aux_vel);
updateHorizontalVelocityAidSrcStatus(auxvel_sample_delayed.time_us, auxvel_sample_delayed.vel, auxvel_sample_delayed.velVar, fmaxf(_params.auxvel_gate, 1.f), _aid_src_aux_vel);
if (isHorizontalAidingActive()) {
fuseVelocity(_aid_src_aux_vel);
fuseHorizontalVelocity(_aid_src_aux_vel);
}
}
}