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ekf2: refactor mag control

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- remove class _mag_sample_delayed
 - update mag fusion call graph to use mag sample delayed functionally
 - Ekf::resetMagHeading()
   - use low pass mag directly, but check if valid (magnitude)
   - MAG_FUSE_TYPE_INDOOR treat like auto if heading required
This commit is contained in:
Daniel Agar
2022-01-31 11:47:10 -05:00
committed by GitHub
parent ad447ab223
commit 999737ddd5
8 changed files with 151 additions and 213 deletions
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src/modules/ekf2/EKF/estimator_interface.h
-1
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@@ -299,7 +299,6 @@ protected:
imuSample _imu_sample_delayed{}; // captures the imu sample on the delayed time horizon
// measurement samples capturing measurements on the delayed time horizon
magSample _mag_sample_delayed{};
baroSample _baro_sample_delayed{};
gpsSample _gps_sample_delayed{};
sensor::SensorRangeFinder _range_sensor{};