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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/fake_height_control.cpp
+1 -1
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@@ -104,7 +104,7 @@ void Ekf::resetFakeHgtFusion()
void Ekf::resetHeightToLastKnown()
{
_information_events.flags.reset_pos_to_last_known = true;
ECL_INFO("reset height to last known");
ECL_INFO("reset height to last known (%.3f)", (double)_last_known_pos(2));
resetVerticalPositionTo(_last_known_pos(2), sq(_params.pos_noaid_noise));
}