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ekf2: remove baro accumulation from initializeFilter

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This commit is contained in:
bresch
2022-09-10 12:29:29 -04:00
committed by Daniel Agar
parent fe4a6ce8de
commit ae1e12a6b5
5 changed files with 34 additions and 54 deletions
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src/modules/ekf2/EKF/control.cpp
-12
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@@ -85,18 +85,6 @@ void Ekf::controlFusionModes()
}
}
if (_baro_buffer) {
const uint64_t baro_time_prev = _baro_sample_delayed.time_us;
_baro_data_ready = _baro_buffer->pop_first_older_than(_imu_sample_delayed.time_us, &_baro_sample_delayed);
// if we have a new baro sample save the delta time between this sample and the last sample which is
// used below for baro offset calculations
if (_baro_data_ready && baro_time_prev != 0) {
_delta_time_baro_us = _baro_sample_delayed.time_us - baro_time_prev;
}
}
if (_gps_buffer) {
_gps_intermittent = !isNewestSampleRecent(_time_last_gps_buffer_push, 2 * GPS_MAX_INTERVAL);