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ekf-agp: fix timeout

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bresch 2024-12-12 14:04:53 +01:00 committed by Mathieu Bresciani
parent fc6c678274
commit cc92979b06
2 changed files with 2 additions and 1 deletions
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2
src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.cpp
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@ -73,7 +73,7 @@ void AuxGlobalPosition::update(Ekf &ekf, const estimator::imuSample &imu_delayed
return;
}
estimator_aid_source2d_s aid_src{};
estimator_aid_source2d_s &aid_src = _aid_src_aux_global_position;
const LatLonAlt position(sample.latitude, sample.longitude, sample.altitude_amsl);
const Vector2f innovation = (ekf.getLatLonAlt() - position).xy(); // altitude measurements are not used

1
src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.hpp
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@ -92,6 +92,7 @@ private:
uint8_t lat_lon_reset_counter{};
};
estimator_aid_source2d_s _aid_src_aux_global_position{};
RingBuffer<AuxGlobalPositionSample> _aux_global_position_buffer{20}; // TODO: size with _obs_buffer_length and actual publication rate
uint64_t _time_last_buffer_push{0};