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ekf2: move range finder files to aid_sources/range_finder

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Daniel Agar
2024-04-04 14:21:56 -04:00
parent 3dbd3f8a1a
commit 24fdd696cb
14 changed files with 59 additions and 43 deletions
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src/modules/ekf2/EKF2.cpp
+2 -2
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@@ -2368,7 +2368,7 @@ bool EKF2::UpdateFlowSample(ekf2_timestamps_s &ekf2_timestamps)
int8_t quality = static_cast<float>(optical_flow.quality) / static_cast<float>(UINT8_MAX) * 100.f;
rangeSample range_sample {
estimator::sensor::rangeSample range_sample {
.time_us = optical_flow.timestamp_sample,
.rng = optical_flow.distance_m,
.quality = quality,
@@ -2507,7 +2507,7 @@ void EKF2::UpdateRangeSample(ekf2_timestamps_s &ekf2_timestamps)
if (_distance_sensor_selected >= 0 && _distance_sensor_subs[_distance_sensor_selected].update(&distance_sensor)) {
// EKF range sample
if (distance_sensor.orientation == distance_sensor_s::ROTATION_DOWNWARD_FACING) {
rangeSample range_sample {
estimator::sensor::rangeSample range_sample {
.time_us = distance_sensor.timestamp,
.rng = distance_sensor.current_distance,
.quality = distance_sensor.signal_quality,