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vehicle_gps_position: use timestamp field instead of timestamp_position

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timestamp was unused. This allows to remove timestamp_position.
This commit is contained in:
Beat Küng
2016-06-24 00:22:01 +02:00
committed by Lorenz Meier
parent bf0b3c1585
commit 89f5bd27e8
15 changed files with 37 additions and 38 deletions
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src/lib/terrain_estimation/terrain_estimator.cpp
+2 -2
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@@ -153,7 +153,7 @@ void TerrainEstimator::measurement_update(uint64_t time_ref, const struct vehicl
_distance_last = distance->current_distance;
}
if (gps->timestamp_position > _time_last_gps && gps->fix_type >= 3) {
if (gps->timestamp > _time_last_gps && gps->fix_type >= 3) {
matrix::Matrix<float, 1, n_x> C;
C(0, 1) = 1;
@@ -172,7 +172,7 @@ void TerrainEstimator::measurement_update(uint64_t time_ref, const struct vehicl
_x += K * r;
_P -= K * C * _P;
_time_last_gps = gps->timestamp_position;
_time_last_gps = gps->timestamp;
}
// reinitialise filter if we find bad data