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ekf2: move controlAuxVelFusion control.cpp -> auxvel_fusion.cpp

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This commit is contained in:
Daniel Agar
2023-02-22 09:08:33 -05:00
parent b4e845d7c0
commit ed8cef6cf0
4 changed files with 55 additions and 19 deletions
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src/modules/ekf2/EKF/control.cpp
-19
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@@ -217,22 +217,3 @@ void Ekf::controlFusionModes(const imuSample &imu_delayed)
// check if we are no longer fusing measurements that directly constrain velocity drift
updateDeadReckoningStatus();
}
void Ekf::controlAuxVelFusion()
{
if (_auxvel_buffer) {
auxVelSample auxvel_sample_delayed;
if (_auxvel_buffer->pop_first_older_than(_time_delayed_us, &auxvel_sample_delayed)) {
resetEstimatorAidStatus(_aid_src_aux_vel);
updateVelocityAidSrcStatus(auxvel_sample_delayed.time_us, auxvel_sample_delayed.vel, auxvel_sample_delayed.velVar, fmaxf(_params.auxvel_gate, 1.f), _aid_src_aux_vel);
if (isHorizontalAidingActive()) {
_aid_src_aux_vel.fusion_enabled = true;
fuseVelocity(_aid_src_aux_vel);
}
}
}
}