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ekf2: move gps_message update to UpdateGpsSample()

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Daniel Agar
2020-11-11 20:17:52 -05:00
parent 0db706011a
commit 68f49619b7
2 changed files with 39 additions and 36 deletions
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src/modules/ekf2/EKF2.hpp
+1 -1
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@@ -121,7 +121,6 @@ private:
void Run() override;
int getRangeSubIndex(); ///< get subscription index of first downward-facing range sensor
void fillGpsMsgWithVehicleGpsPosData(gps_message &msg, const vehicle_gps_position_s &data);
PreFlightChecker _preflt_checker;
void runPreFlightChecks(float dt, const filter_control_status_u &control_status,
@@ -152,6 +151,7 @@ private:
void UpdateBaroSample(ekf2_timestamps_s &ekf2_timestamps);
bool UpdateExtVisionSample(ekf2_timestamps_s &ekf2_timestamps, vehicle_odometry_s &ev_odom);
bool UpdateFlowSample(ekf2_timestamps_s &ekf2_timestamps, optical_flow_s &optical_flow);
void UpdateGpsSample(ekf2_timestamps_s &ekf2_timestamps);
void UpdateMagCalibration(const hrt_abstime &timestamp);