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ekf2: pass gpsSample around where required

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- this minimizes potential misuse accessing _gps_sample_delayed and
makes the dependency clear
This commit is contained in:
Daniel Agar
2022-09-05 10:27:19 -04:00
parent 0c860fa227
commit d996af4647
9 changed files with 75 additions and 73 deletions
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src/modules/ekf2/EKF/covariance.cpp
+1 -1
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@@ -73,7 +73,7 @@ void Ekf::initialiseCovariance()
P(9,9) = sq(fmaxf(_params.range_noise, 0.01f));
} else if (_control_status.flags.gps_hgt) {
P(9,9) = getGpsHeightVariance();
P(9,9) = sq(fmaxf(1.5f * _params.gps_pos_noise, 0.01f));
} else {
P(9,9) = sq(fmaxf(_params.baro_noise, 0.01f));