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EKF: pass imuSample by const reference

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Daniel Agar
2020-10-30 09:47:22 -04:00
parent d85e24d3ca
commit defb35d8f5
4 changed files with 43 additions and 42 deletions
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EKF/ekf.cpp
+2 -3
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@@ -132,7 +132,7 @@ bool Ekf::update()
// the output observer always runs
// Use full rate IMU data at the current time horizon
calculateOutputStates();
calculateOutputStates(_newest_high_rate_imu_sample);
return updated;
}
@@ -312,10 +312,9 @@ void Ekf::predictState()
* “Recursive Attitude Estimation in the Presence of Multi-rate and Multi-delay Vector Measurements”
* A Khosravian, J Trumpf, R Mahony, T Hamel, Australian National University
*/
void Ekf::calculateOutputStates()
void Ekf::calculateOutputStates(const imuSample &imu)
{
// Use full rate IMU data at the current time horizon
const imuSample &imu = _newest_high_rate_imu_sample;
// correct delta angles for bias offsets
const float dt_scale_correction = _dt_imu_avg / _dt_ekf_avg;