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further cleanup

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
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RomanBapst 2025-02-10 10:17:42 +03:00 committed by Marco Hauswirth
parent 2c4d38e303
commit 8cedef2dc4
1 changed files with 2 additions and 5 deletions
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7
src/modules/ekf2/EKF/aid_sources/range_finder/sensor_range_finder.cpp
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@ -78,9 +78,7 @@ void SensorRangeFinder::updateValidity(uint64_t current_time_us)
_time_bad_quality_us = _sample.quality == 0 ? current_time_us : _time_bad_quality_us;
const bool quality_ok = isQualityOk(current_time_us);
if (!quality_ok || !isTiltOk() || !isDataInRange()) {
if (!isQualityOk(current_time_us) || !isTiltOk() || !isDataInRange()) {
return;
}
@ -99,8 +97,7 @@ void SensorRangeFinder::updateValidity(uint64_t current_time_us)
bool SensorRangeFinder::isQualityOk(uint64_t current_time_us) const
{
const bool bad_quality = current_time_us - _time_bad_quality_us > _quality_hyst_us;
return bad_quality;
return current_time_us - _time_bad_quality_us > _quality_hyst_us;
}
void SensorRangeFinder::updateDtDataLpf(uint64_t current_time_us)