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ekf2: ev vel, use measurement timestamp to update aid_src timestamp_sample (#25774)

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- the estimator_aid_src::sample_timestamp would use its own timestamp to update, this
  would cause the estimator_aid_src for ev velocity not to log, since the
timestamp_sample would always equal to zero and thus never be greater
than the previous published time

Co-authored-by: henrykotze <henry@autonosky.com>
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Henry Kotzé 2025-10-17 20:43:34 +02:00 committed by GitHub
parent dc0af1ab9d
commit 7418d84001
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src/modules/ekf2/EKF/aid_sources/external_vision/ev_vel.h
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@ -57,7 +57,7 @@ public:
virtual ~ExternalVisionVel() = default; virtual ~ExternalVisionVel() = default;
virtual bool fuseVelocity(estimator_aid_source3d_s &aid_src, float gate) virtual bool fuseVelocity(estimator_aid_source3d_s &aid_src, float gate)
{ {
_ekf.fuseLocalFrameVelocity(aid_src, aid_src.timestamp, _measurement, _ekf.fuseLocalFrameVelocity(aid_src, _sample.time_us, _measurement,
_measurement_var, gate); _measurement_var, gate);
return aid_src.fused; return aid_src.fused;