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ekf2: move estimator innovation variances publication to method

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Daniel Agar
2020-11-11 20:17:52 -05:00
parent 94415a45fa
commit 3b9965ff8d
2 changed files with 28 additions and 26 deletions
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src/modules/ekf2/EKF2.hpp
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@@ -137,6 +137,7 @@ private:
void PublishAttitude(const hrt_abstime &timestamp);
void PublishEkfDriftMetrics(const hrt_abstime &timestamp);
void PublishGlobalPosition(const hrt_abstime &timestamp);
void PublishInnovationVariances(const hrt_abstime &timestamp);
void PublishLocalPosition(const hrt_abstime &timestamp);
void PublishOdometry(const hrt_abstime &timestamp, const imuSample &imu);
void PublishOpticalFlowVel(const hrt_abstime &timestamp, const optical_flow_s &optical_flow);