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ekf2: move rangeSample update to UpdateRangeSample()

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This commit is contained in:
Daniel Agar
2020-11-11 20:17:52 -05:00
parent 991015c5c6
commit 5ae7c80a18
2 changed files with 46 additions and 46 deletions
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src/modules/ekf2/EKF2.hpp
+3 -6
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@@ -120,8 +120,6 @@ public:
private:
void Run() override;
int getRangeSubIndex(); ///< get subscription index of first downward-facing range sensor
PreFlightChecker _preflt_checker;
void runPreFlightChecks(float dt, const filter_control_status_u &control_status,
const estimator_innovations_s &innov, const bool can_observe_heading_in_flight);
@@ -153,6 +151,7 @@ private:
bool UpdateFlowSample(ekf2_timestamps_s &ekf2_timestamps, optical_flow_s &optical_flow);
void UpdateGpsSample(ekf2_timestamps_s &ekf2_timestamps);
void UpdateMagSample(ekf2_timestamps_s &ekf2_timestamps);
void UpdateRangeSample(ekf2_timestamps_s &ekf2_timestamps);
void UpdateMagCalibration(const hrt_abstime &timestamp);
@@ -212,6 +211,7 @@ private:
uORB::Subscription _airdata_sub{ORB_ID(vehicle_air_data)};
uORB::Subscription _airspeed_sub{ORB_ID(airspeed)};
uORB::Subscription _distance_sensor_sub{ORB_ID(distance_sensor)};
uORB::Subscription _ev_odom_sub{ORB_ID(vehicle_visual_odometry)};
uORB::Subscription _landing_target_pose_sub{ORB_ID(landing_target_pose)};
uORB::Subscription _magnetometer_sub{ORB_ID(vehicle_magnetometer)};
@@ -228,10 +228,7 @@ private:
bool _callback_registered{false};
int _lockstep_component{-1};
// because we can have several distance sensor instances with different orientations
uORB::SubscriptionMultiArray<distance_sensor_s> _distance_sensor_subs{ORB_ID::distance_sensor};
int _range_finder_sub_index = -1; // index for downward-facing range finder subscription
bool _distance_sensor_selected{false}; // because we can have several distance sensor instances with different orientations
bool _armed{false};
bool _standby{false}; // standby arming state
bool _landed{true};