Update baro interface

EKF/common.h

@@ -128,8 +128,8 @@ struct magSample {
 };
 
 struct baroSample {
-	float       hgt{0.0f};	///< pressure altitude above sea level (m)
-	uint64_t    time_us{0};	///< timestamp of the measurement (uSec)
+	float       hgt;	///< pressure altitude above sea level (m)
+	uint64_t    time_us;	///< timestamp of the measurement (uSec)
 };
 
 struct rangeSample {

EKF/estimator_interface.cpp

@@ -245,7 +245,7 @@ void EstimatorInterface::setGpsData(const gps_message &gps)
 	}
 }
 
-void EstimatorInterface::setBaroData(uint64_t time_usec, float baro_alt_meter)
+void EstimatorInterface::setBaroData(const baroSample &baro_sample)
 {
 	if (!_initialised || _baro_buffer_fail) {
 		return;
@@ -265,11 +265,12 @@ void EstimatorInterface::setBaroData(uint64_t time_usec, float baro_alt_meter)
 	// downsample to highest possible sensor rate
 	// by baro data by taking the average of incoming sample
 	_baro_sample_count++;
-	_baro_alt_sum += baro_alt_meter;
-	_baro_timestamp_sum += time_usec / 1000; // Dividing by 1000 to avoid overflow
+	_baro_alt_sum += baro_sample.hgt;
+	_baro_timestamp_sum += baro_sample.time_us / 1000; // Dividing by 1000 to avoid overflow
 
 	// limit data rate to prevent data being lost
-	if ((time_usec - _time_last_baro) > _min_obs_interval_us) {
+	if ((baro_sample.time_us - _time_last_baro) > _min_obs_interval_us) {
+		_time_last_baro = baro_sample.time_us;
 
 		const float baro_alt_avg = _baro_alt_sum / (float)_baro_sample_count;
 
@@ -284,7 +285,6 @@ void EstimatorInterface::setBaroData(uint64_t time_usec, float baro_alt_meter)
 
 		_baro_buffer.push(baro_sample_new);
 
-		_time_last_baro = time_usec;
 		_baro_sample_count = 0;
 		_baro_alt_sum = 0.0f;
 		_baro_timestamp_sum = 0;

EKF/estimator_interface.h

@@ -181,7 +181,7 @@ public:
 
 	void setGpsData(const gps_message &gps);
 
-	void setBaroData(uint64_t time_usec, float data);
+	void setBaroData(const baroSample &baro_sample);
 
 	void setAirspeedData(uint64_t time_usec, float true_airspeed, float eas2tas);
 

test/sensor_simulator/baro.cpp

@@ -15,7 +15,8 @@ Baro::~Baro()
 
 void Baro::send(uint64_t time)
 {
-	_ekf->setBaroData(time,_baro_data);
+	const baroSample baro_sample {_baro_data, time};
+	_ekf->setBaroData(baro_sample);
 }
 
 void Baro::setData(float baro)

test/test_EKF_measurementSampling.cpp

@@ -66,7 +66,8 @@ TEST_F(EkfMeasurementSamplingTest, baroDownSampling)
 			imu_sample.time_us = time;
 			_ekf->setIMUData(imu_sample);
 		}
-		_ekf->setBaroData(time, baro_data);
+		const baroSample baro_sample {baro_data, time};
+		_ekf->setBaroData(baro_sample);
 		baro_data *= -1.0f;
 		time += 1000000 / baro_rate_Hz;
 	}