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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/gps_fusion.cpp
+2 -2
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@@ -48,7 +48,7 @@ void Ekf::updateGpsYaw(const gpsSample &gps_sample)
// initially populate for estimator_aid_src_gnss_yaw logging
// calculate the observed yaw angle of antenna array, converting a from body to antenna yaw measurement
const float measured_hdg = wrap_pi(_gps_sample_delayed.yaw + _gps_yaw_offset);
const float measured_hdg = wrap_pi(gps_sample.yaw + _gps_yaw_offset);
gps_yaw.observation = measured_hdg;
gps_yaw.observation_variance = sq(fmaxf(_params.gps_heading_noise, 1.0e-2f));
@@ -103,7 +103,7 @@ void Ekf::updateGpsPos(const gpsSample &gps_sample)
resetEstimatorAidStatus(gps_pos);
const float height_measurement = gps_sample.hgt - getEkfGlobalOriginAltitude();
const float height_measurement_var = getGpsHeightVariance();
const float height_measurement_var = getGpsHeightVariance(gps_sample);
Vector3f position;
position(0) = gps_sample.pos(0);