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ekf2: move stopFlowFusion() to optical_flow_control.cpp

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This commit is contained in:
Daniel Agar
2023-02-22 09:08:33 -05:00
parent 3a317ec18c
commit c20e4e4421
2 changed files with 10 additions and 10 deletions
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src/modules/ekf2/EKF/ekf_helper.cpp
-10
View File
@@ -1188,16 +1188,6 @@ void Ekf::stopAuxVelFusion()
resetEstimatorAidStatus(_aid_src_aux_vel); resetEstimatorAidStatus(_aid_src_aux_vel);
} }
void Ekf::stopFlowFusion()
{
if (_control_status.flags.opt_flow) {
ECL_INFO("stopping optical flow fusion");
_control_status.flags.opt_flow = false;
resetEstimatorAidStatus(_aid_src_optical_flow);
}
}
void Ekf::resetQuatStateYaw(float yaw, float yaw_variance) void Ekf::resetQuatStateYaw(float yaw, float yaw_variance)
{ {
// save a copy of the quaternion state for later use in calculating the amount of reset change // save a copy of the quaternion state for later use in calculating the amount of reset change
src/modules/ekf2/EKF/optical_flow_control.cpp
+10
View File
@@ -258,3 +258,13 @@ void Ekf::resetOnGroundMotionForOpticalFlowChecks()
_time_bad_motion_us = 0; _time_bad_motion_us = 0;
_time_good_motion_us = _time_delayed_us; _time_good_motion_us = _time_delayed_us;
} }
void Ekf::stopFlowFusion()
{
if (_control_status.flags.opt_flow) {
ECL_INFO("stopping optical flow fusion");
_control_status.flags.opt_flow = false;
resetEstimatorAidStatus(_aid_src_optical_flow);
}
}