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ekf2: auto-generate state vector size constant

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bresch
2023-09-19 11:38:04 +02:00
committed by Daniel Agar
parent 8a9a303354
commit dac337efc4
8 changed files with 20 additions and 18 deletions
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src/modules/ekf2/EKF2.cpp
+1 -1
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@@ -1758,7 +1758,7 @@ void EKF2::PublishStates(const hrt_abstime &timestamp)
// publish estimator states
estimator_states_s states;
states.timestamp_sample = _ekf.time_delayed_us();
states.n_states = Ekf::_k_num_states;
states.n_states = Ekf::getNumberOfStates();
_ekf.getStateAtFusionHorizonAsVector().copyTo(states.states);
_ekf.covariances_diagonal().copyTo(states.covariances);
states.timestamp = _replay_mode ? timestamp : hrt_absolute_time();