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ekf: add vehicle at rest to flags

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CarlOlsson
2020-02-10 17:14:27 +01:00
committed by Mathieu Bresciani
parent 89bcebd631
commit b6420d0b79
6 changed files with 6 additions and 6 deletions
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EKF/estimator_interface.cpp
+1 -1
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@@ -66,7 +66,7 @@ void EstimatorInterface::setIMUData(const imuSample &imu_sample)
// Do not change order of computeVibrationMetric and checkIfVehicleAtRest
computeVibrationMetric();
_vehicle_at_rest = checkIfVehicleAtRest(dt);
_control_status.flags.vehicle_at_rest = checkIfVehicleAtRest(dt);
const bool new_downsampled_imu_sample_ready = _imu_down_sampler.update(_newest_high_rate_imu_sample);
_imu_updated = new_downsampled_imu_sample_ready;