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Update range finder interface

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kamilritz
2020-01-23 09:34:07 +11:00
committed by Paul Riseborough
parent 9f0d8ed59e
commit 4fb2d1b02e
4 changed files with 12 additions and 12 deletions
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EKF/estimator_interface.cpp
+6 -6
View File
@@ -320,7 +320,7 @@ void EstimatorInterface::setAirspeedData(const airspeedSample &airspeed_sample)
}
}
void EstimatorInterface::setRangeData(uint64_t time_usec, float data, int8_t quality)
void EstimatorInterface::setRangeData(const rangeSample& range_sample)
{
if (!_initialised || _range_buffer_fail) {
return;
@@ -338,12 +338,12 @@ void EstimatorInterface::setRangeData(uint64_t time_usec, float data, int8_t qua
}
// limit data rate to prevent data being lost
if ((time_usec - _time_last_range) > _min_obs_interval_us) {
if ((range_sample.time_us - _time_last_range) > _min_obs_interval_us) {
_time_last_range = range_sample.time_us;
rangeSample range_sample_new;
range_sample_new.rng = data;
range_sample_new.time_us = time_usec - _params.range_delay_ms * 1000;
range_sample_new.quality = quality;
_time_last_range = time_usec;
range_sample_new.time_us -= _params.range_delay_ms * 1000;
range_sample_new.time_us -= FILTER_UPDATE_PERIOD_MS * 1000 / 2;
_range_buffer.push(range_sample_new);
}
EKF/estimator_interface.h
+1 -1
View File
@@ -185,7 +185,7 @@ public:
void setAirspeedData(const airspeedSample &airspeed_sample);
void setRangeData(uint64_t time_usec, float data, int8_t quality);
void setRangeData(const rangeSample& range_sample);
// if optical flow sensor gyro delta angles are not available, set gyroXYZ vector fields to NaN and the EKF will use its internal delta angle data instead
void setOpticalFlowData(uint64_t time_usec, flow_message *flow);