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ekf2: remove baro accumulation from initializeFilter

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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/ekf.h
+2 -4
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@@ -457,7 +457,6 @@ private:
// booleans true when fresh sensor data is available at the fusion time horizon
bool _gps_data_ready{false}; ///< true when new GPS data has fallen behind the fusion time horizon and is available to be fused
bool _baro_data_ready{false}; ///< true when new baro height data has fallen behind the fusion time horizon and is available to be fused
bool _rng_data_ready{false};
bool _flow_data_ready{false}; ///< true when the leading edge of the optical flow integration period has fallen behind the fusion time horizon
bool _ev_data_ready{false}; ///< true when new external vision system data has fallen behind the fusion time horizon and is available to be fused
@@ -483,7 +482,6 @@ private:
Vector3f _last_known_pos{}; ///< last known local position vector (m)
uint64_t _time_acc_bias_check{0}; ///< last time the accel bias check passed (uSec)
uint64_t _delta_time_baro_us{0}; ///< delta time between two consecutive delayed baro samples from the buffer (uSec)
Vector3f _earth_rate_NED{}; ///< earth rotation vector (NED) in rad/s
@@ -708,7 +706,7 @@ private:
void resetVerticalPositionTo(float new_vert_pos);
void resetHeightToBaro();
void resetHeightToBaro(const baroSample &baro_sample);
void resetHeightToGps(const gpsSample &gps_sample);
void resetHeightToRng();
void resetHeightToEv();
@@ -967,7 +965,7 @@ private:
void startMagHdgFusion();
void startMag3DFusion();
void startBaroHgtFusion();
void startBaroHgtFusion(const baroSample &baro_sample);
void stopBaroHgtFusion();
void startGpsHgtFusion(const gpsSample &gps_sample);