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ekf2: update flags (in_air, at_rest, etc) on delayed time horizon (#20576)

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- in a lot of cases this won't really matter, although you can see it in logs (especially with things like vehicle_at_rest), but it's something we might as well do properly

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
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Daniel Agar
2022-11-14 11:35:40 -05:00
committed by GitHub
co-authored by Mathieu Bresciani
parent b0e1cc72f7
commit 639d1ddca2
6 changed files with 117 additions and 50 deletions
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src/modules/ekf2/EKF2.hpp
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@@ -170,6 +170,7 @@ private:
void UpdateGpsSample(ekf2_timestamps_s &ekf2_timestamps);
void UpdateMagSample(ekf2_timestamps_s &ekf2_timestamps);
void UpdateRangeSample(ekf2_timestamps_s &ekf2_timestamps);
void UpdateSystemFlagsSample(ekf2_timestamps_s &ekf2_timestamps);
// Used to check, save and use learned accel/gyro/mag biases
struct InFlightCalibration {