From 98263de17b499b004f9d79ba3593daac9e459050 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Tue, 21 Feb 2023 11:12:32 -0500 Subject: [PATCH] ekf2: move aux vel helpers to auxvel_fusion.cpp --- src/modules/ekf2/EKF/auxvel_fusion.cpp | 7 +++++++ src/modules/ekf2/EKF/ekf_helper.cpp | 7 ------- 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/src/modules/ekf2/EKF/auxvel_fusion.cpp b/src/modules/ekf2/EKF/auxvel_fusion.cpp index 2c499397f5..680f40cc7d 100644 --- a/src/modules/ekf2/EKF/auxvel_fusion.cpp +++ b/src/modules/ekf2/EKF/auxvel_fusion.cpp @@ -51,3 +51,10 @@ void Ekf::controlAuxVelFusion() } } } + +void Ekf::stopAuxVelFusion() +{ + ECL_INFO("stopping aux vel fusion"); + //_control_status.flags.aux_vel = false; + resetEstimatorAidStatus(_aid_src_aux_vel); +} diff --git a/src/modules/ekf2/EKF/ekf_helper.cpp b/src/modules/ekf2/EKF/ekf_helper.cpp index 18b5440760..ffca0b2a93 100644 --- a/src/modules/ekf2/EKF/ekf_helper.cpp +++ b/src/modules/ekf2/EKF/ekf_helper.cpp @@ -1051,13 +1051,6 @@ void Ekf::loadMagCovData() P(18, 18) = _saved_mag_ef_d_variance; } -void Ekf::stopAuxVelFusion() -{ - ECL_INFO("stopping aux vel fusion"); - //_control_status.flags.aux_vel = false; - resetEstimatorAidStatus(_aid_src_aux_vel); -} - void Ekf::resetQuatStateYaw(float yaw, float yaw_variance) { // save a copy of the quaternion state for later use in calculating the amount of reset change