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ekf2: move predict covariance IMU inhibit check to function

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Daniel Agar
2023-10-17 09:58:10 -04:00
parent 0b44852094
commit 48e09a4dea
4 changed files with 105 additions and 90 deletions
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src/modules/ekf2/EKF/ekf.h
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@@ -822,6 +822,8 @@ private:
bool fuseYaw(estimator_aid_source1d_s &aid_src_status, const VectorState &H_YAW);
void computeYawInnovVarAndH(float variance, float &innovation_variance, VectorState &H_YAW) const;
void updateIMUBiasInhibit(const imuSample &imu_delayed);
#if defined(CONFIG_EKF2_MAGNETOMETER)
// ekf sequential fusion of magnetometer measurements
bool fuseMag(const Vector3f &mag, estimator_aid_source3d_s &aid_src_mag, bool update_all_states = true);