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ekf2: directly use IMU sample to find corresponding aid source sample

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- I think this helps make it clear we're using a sensor sample
   corresponding with a particular IMU sample
This commit is contained in:
Daniel Agar
2024-07-10 21:20:47 -04:00
parent f93dc61770
commit ac77049c47
8 changed files with 23 additions and 23 deletions
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src/modules/ekf2/EKF/ekf.h
+3 -3
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@@ -841,7 +841,7 @@ private:
#if defined(CONFIG_EKF2_RANGE_FINDER)
// range height
void controlRangeHaglFusion();
void controlRangeHaglFusion(const imuSample &imu_delayed);
bool isConditionalRangeAidSuitable();
void stopRngHgtFusion();
void stopRngTerrFusion();
@@ -1019,7 +1019,7 @@ private:
#if defined(CONFIG_EKF2_MAGNETOMETER)
// control fusion of magnetometer observations
void controlMagFusion();
void controlMagFusion(const imuSample &imu_sample);
bool checkHaglYawResetReq() const;
@@ -1052,7 +1052,7 @@ private:
#if defined(CONFIG_EKF2_AUXVEL)
// control fusion of auxiliary velocity observations
void controlAuxVelFusion();
void controlAuxVelFusion(const imuSample &imu_sample);
void stopAuxVelFusion();
#endif // CONFIG_EKF2_AUXVEL