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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
2022-03-08 11:16:35 -05:00
parent c4bc062714
commit c10ea97967
6 changed files with 105 additions and 64 deletions
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src/modules/ekf2/EKF/ekf.cpp
-1
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@@ -213,7 +213,6 @@ bool Ekf::initialiseFilter()
// reset the essential fusion timeout counters
_time_last_hgt_fuse = _time_last_imu;
_time_last_hor_pos_fuse = _time_last_imu;
_time_last_delpos_fuse = _time_last_imu;
_time_last_hor_vel_fuse = _time_last_imu;
_time_last_hagl_fuse = _time_last_imu;
_time_last_flow_terrain_fuse = _time_last_imu;