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ekf2: EV vel (body) update last fuse timestamps

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- these are set by the NED fuseVelocity() helper so also need to be set in the body frame velocity case
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Daniel Agar
2024-07-09 10:16:12 -04:00
committed by GitHub
parent 5d08b97fd7
commit 62ff39a669
1 changed files with 5 additions and 0 deletions
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src/modules/ekf2/EKF/aid_sources/external_vision/ev_vel_control.cpp
+5
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@@ -292,6 +292,11 @@ bool Ekf::fuseEvVelocity(estimator_aid_source3d_s &aid_src, const extVisionSampl
}
if (aid_src.fused) {
_time_last_hor_vel_fuse = _time_delayed_us;
_time_last_ver_vel_fuse = _time_delayed_us;
}
aid_src.timestamp_sample = current_aid_src.timestamp_sample;
return !aid_src.innovation_rejected;