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ekf2: consolidate and simplify gnd effect logic

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This commit is contained in:
Daniel Agar
2022-02-22 16:59:10 -05:00
parent 1d7791dad6
commit d6d529539d
9 changed files with 609 additions and 612 deletions
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src/modules/ekf2/EKF2.hpp
-2
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@@ -213,8 +213,6 @@ private:
InFlightCalibration _gyro_cal{};
InFlightCalibration _mag_cal{};
bool _had_valid_terrain{false}; ///< true if at any time there was a valid terrain estimate
uint64_t _gps_time_usec{0};
int32_t _gps_alttitude_ellipsoid{0}; ///< altitude in 1E-3 meters (millimeters) above ellipsoid
uint64_t _gps_alttitude_ellipsoid_previous_timestamp{0}; ///< storage for previous timestamp to compute dt