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ekf2: don't store vehicle_status_s

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This commit is contained in:
Daniel Agar
2020-10-29 10:22:57 -04:00
parent d27573b797
commit d1af095c0b
2 changed files with 24 additions and 24 deletions
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src/modules/ekf2/EKF2.hpp
+4 -4
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@@ -125,8 +125,7 @@ private:
PreFlightChecker _preflt_checker;
void runPreFlightChecks(float dt, const filter_control_status_u &control_status,
const vehicle_status_s &vehicle_status,
const estimator_innovations_s &innov);
const estimator_innovations_s &innov, const bool can_observe_heading_in_flight);
void resetPreFlightChecks();
template<typename Param>
@@ -213,10 +212,11 @@ private:
uORB::SubscriptionMultiArray<distance_sensor_s> _distance_sensor_subs{ORB_ID::distance_sensor};
int _range_finder_sub_index = -1; // index for downward-facing range finder subscription
vehicle_status_s _vehicle_status{};
bool _armed{false};
bool _standby{false}; // standby arming state
bool _landed{true};
bool _in_ground_effect{false};
bool _can_observe_heading_in_flight{false};
uORB::PublicationMulti<ekf2_timestamps_s> _ekf2_timestamps_pub{ORB_ID(ekf2_timestamps)};
uORB::PublicationMulti<ekf_gps_drift_s> _ekf_gps_drift_pub{ORB_ID(ekf_gps_drift)};