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ekf2: don't store _drag_sample_delayed

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This commit is contained in:
Daniel Agar
2022-02-01 09:40:03 -05:00
parent 138ff7a316
commit 452b5e94b4
4 changed files with 12 additions and 10 deletions
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src/modules/ekf2/EKF/control.cpp
+9 -6
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@@ -1047,18 +1047,21 @@ void Ekf::controlBetaFusion()
void Ekf::controlDragFusion()
{
if ((_params.fusion_mode & MASK_USE_DRAG) &&
!_using_synthetic_position &&
_control_status.flags.in_air &&
!_mag_inhibit_yaw_reset_req) {
if ((_params.fusion_mode & MASK_USE_DRAG) && _drag_buffer &&
!_using_synthetic_position && _control_status.flags.in_air && !_mag_inhibit_yaw_reset_req) {
if (!_control_status.flags.wind) {
// reset the wind states and covariances when starting drag accel fusion
_control_status.flags.wind = true;
resetWind();
} else if (_drag_buffer && _drag_buffer->pop_first_older_than(_imu_sample_delayed.time_us, &_drag_sample_delayed)) {
fuseDrag();
}
dragSample drag_sample;
if (_drag_buffer->pop_first_older_than(_imu_sample_delayed.time_us, &drag_sample)) {
fuseDrag(drag_sample);
}
}
}