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ekf2: minor position/velocity reset cleanup

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- try to use avoid resetVelocity() call where possible
 - reset timeouts centrally
This commit is contained in:
Daniel Agar
2022-03-08 11:16:35 -05:00
parent c10ea97967
commit b7e0f17c6a
10 changed files with 678 additions and 754 deletions
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src/modules/ekf2/EKF/fake_pos_control.cpp
+2 -2
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@@ -88,8 +88,8 @@ void Ekf::startFakePosFusion()
void Ekf::resetFakePosFusion()
{
_last_known_posNE = _state.pos.xy();
resetHorizontalPosition();
resetVelocity();
resetHorizontalPositionToLastKnown();
resetHorizontalVelocityToZero();
_time_last_fake_pos_fuse = _time_last_imu;
}