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ekf2: include 0 timestamp checks in helpers (isTimedOut(), isRecent(), etc)

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- EKF isTimedOut(), isRecent(), and isNewestSampleRecent() need to handle the case where the timestamp has never been set
 - reset() more thoroughly reset fields (mainly impacts unit tests)
This commit is contained in:
Daniel Agar
2023-02-03 10:00:51 -05:00
committed by GitHub
parent 264a99fb77
commit 66ad7fd06c
11 changed files with 834 additions and 767 deletions
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src/modules/ekf2/EKF/ev_vel_control.cpp
+1 -1
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@@ -205,7 +205,7 @@ void Ekf::controlEvVelFusion(const extVisionSample &ev_sample, const bool common
if (starting_conditions_passing) {
// activate fusion, only reset if necessary
if (!isHorizontalAidingActive() || yaw_alignment_changed) {
ECL_INFO("starting %s fusion, resetting state", AID_SRC_NAME);
ECL_INFO("starting %s fusion, resetting velocity to (%.3f, %.3f, %.3f)", AID_SRC_NAME, (double)measurement(0), (double)measurement(1), (double)measurement(2));
_information_events.flags.reset_vel_to_vision = true;
resetVelocityTo(measurement, measurement_var);