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ekf2: EKFGSF_yaw minor cleanup (#20510)

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- don't store unnecessary IMU copy in class, pass it through where required
 - remove custom pi constants
 - remove unused fields from ahrs_ekf_gsf (vel_NE, fuse_gps, accel_dt)
 - explicitly initialize everything in header
 - apply PX4 code style
 - set GPS velocity before yaw estimator update, not after
This commit is contained in:
Daniel Agar
2022-12-09 13:24:00 -05:00
committed by GitHub
parent 643eed51cb
commit 8cf13d50a8
5 changed files with 150 additions and 175 deletions
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src/modules/ekf2/EKF/gnss_height_control.cpp
+1 -1
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@@ -117,7 +117,7 @@ void Ekf::controlGnssHeightFusion(const gpsSample &gps_sample)
// reset vertical velocity
if (PX4_ISFINITE(gps_sample.vel(2)) && (_params.gnss_ctrl & GnssCtrl::VEL)) {
// use 1.5 as a typical ratio of vacc/hacc
resetVerticalVelocityTo(gps_sample.vel(2), sq(1.5f * gps_sample.sacc));
resetVerticalVelocityTo(gps_sample.vel(2), sq(math::max(1.5f * gps_sample.sacc, _params.gps_vel_noise)));
} else {
resetVerticalVelocityToZero();