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ekf2: move baro dynamic pressure compensation to aid_sources/barometer

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Daniel Agar
2024-05-02 17:40:58 -04:00
parent 4f0eb72fc9
commit 6b3b66619b
3 changed files with 41 additions and 40 deletions
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src/modules/ekf2/EKF/ekf.h
+5 -4
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@@ -947,10 +947,6 @@ private:
// and a scalar innovation value
void fuse(const VectorState &K, float innovation);
#if defined(CONFIG_EKF2_BARO_COMPENSATION)
float compensateBaroForDynamicPressure(float baro_alt_uncompensated) const;
#endif // CONFIG_EKF2_BARO_COMPENSATION
// calculate the earth rotation vector from a given latitude
Vector3f calcEarthRateNED(float lat_rad) const;
@@ -1079,6 +1075,11 @@ private:
void stopBaroHgtFusion();
void updateGroundEffect();
# if defined(CONFIG_EKF2_BARO_COMPENSATION)
float compensateBaroForDynamicPressure(float baro_alt_uncompensated) const;
# endif // CONFIG_EKF2_BARO_COMPENSATION
#endif // CONFIG_EKF2_BAROMETER
#if defined(CONFIG_EKF2_GRAVITY_FUSION)