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ekf2: fusion helpers return success/fail and set pos/vel update timestamps centrally (if healthy)

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Daniel Agar
2022-02-22 17:33:21 -05:00
parent c4bc062714
commit c10ea97967
6 changed files with 105 additions and 64 deletions
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src/modules/ekf2/EKF/control.cpp
-1
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@@ -1065,7 +1065,6 @@ void Ekf::controlAuxVelFusion()
bool Ekf::hasHorizontalAidingTimedOut() const
{
return isTimedOut(_time_last_hor_pos_fuse, _params.reset_timeout_max)
&& isTimedOut(_time_last_delpos_fuse, _params.reset_timeout_max)
&& isTimedOut(_time_last_hor_vel_fuse, _params.reset_timeout_max)
&& isTimedOut(_time_last_of_fuse, _params.reset_timeout_max);
}