fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-28 15:53:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: do not store delayed baro sample in class

Browse Source 
the sample is popped from the buffer and directly used; there is no
need to keep a local copy of it
This commit is contained in:
bresch
2022-09-10 12:29:29 -04:00
committed by Daniel Agar
parent ae1e12a6b5
commit 6bd81c0eb7
3 changed files with 2 additions and 28 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF/estimator_interface.h
-2
View File
@@ -256,7 +256,6 @@ public:
const imuSample &get_imu_sample_delayed() const { return _imu_sample_delayed; }
const imuSample &get_imu_sample_newest() const { return _newest_high_rate_imu_sample; }
const baroSample &get_baro_sample_delayed() const { return _baro_sample_delayed; }
const gpsSample &get_gps_sample_delayed() const { return _gps_sample_delayed; }
const rangeSample &get_rng_sample_delayed() { return *(_range_sensor.getSampleAddress()); }
const extVisionSample &get_ev_sample_delayed() const { return _ev_sample_delayed; }
@@ -302,7 +301,6 @@ protected:
imuSample _imu_sample_delayed{}; // captures the imu sample on the delayed time horizon
// measurement samples capturing measurements on the delayed time horizon
baroSample _baro_sample_delayed{};
gpsSample _gps_sample_delayed{};
sensor::SensorRangeFinder _range_sensor{};
airspeedSample _airspeed_sample_delayed{};