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ekf2: rename BaroBiasEstimator -> BiasEstimator

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bresch
2022-07-19 20:46:53 -04:00
committed by Daniel Agar
parent 39453405a0
commit f962399ba1
6 changed files with 25 additions and 30 deletions
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src/modules/ekf2/EKF/ekf.h
+3 -3
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@@ -46,7 +46,7 @@
#include "estimator_interface.h"
#include "EKFGSF_yaw.h"
#include "baro_bias_estimator.hpp"
#include "bias_estimator.hpp"
#include <uORB/topics/estimator_aid_source_1d.h>
#include <uORB/topics/estimator_aid_source_2d.h>
@@ -345,7 +345,7 @@ public:
// Returns true if the output of the yaw emergency estimator can be used for a reset
bool isYawEmergencyEstimateAvailable() const;
const BaroBiasEstimator::status &getBaroBiasEstimatorStatus() const { return _baro_b_est.getStatus(); }
const BiasEstimator::status &getBaroBiasEstimatorStatus() const { return _baro_b_est.getStatus(); }
const auto &aid_src_airspeed() const { return _aid_src_airspeed; }
@@ -1042,7 +1042,7 @@ private:
// yaw estimator instance
EKFGSF_yaw _yawEstimator{};
BaroBiasEstimator _baro_b_est{};
BiasEstimator _baro_b_est{};
int64_t _ekfgsf_yaw_reset_time{0}; ///< timestamp of last emergency yaw reset (uSec)
uint8_t _ekfgsf_yaw_reset_count{0}; // number of times the yaw has been reset to the EKF-GSF estimate