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EKF: Clean up terrain estimation functionality.

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This is a functionally equivalent. It moves all of the code for the terrain estimator into a single function call from the main filter update, making it clear that it is independent of the main filter.
This commit is contained in:
Paul Riseborough
2017-02-22 14:12:05 +01:00
committed by Roman
parent 8004e9fe7e
commit 6561edb9a5
4 changed files with 29 additions and 26 deletions
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EKF/ekf.cpp
+2 -8
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@@ -214,14 +214,8 @@ bool Ekf::update()
predictState();
predictCovariance();
// perform state and variance prediction for the terrain estimator
checkRangeDataContinuity();
if (!_terrain_initialised) {
_terrain_initialised = initHagl();
} else {
predictHagl();
}
// run a separate filter for terrain estimation
runTerrainEstimator();
// control fusion of observation data
controlFusionModes();