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ekf2: move baro compensation to delayed time horizon and add validity check

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- this removes an unnecessary virtual call and simplifies things a bit

Co-authored-by: bresch <brescianimathieu@gmail.com>
This commit is contained in:
Daniel Agar
2022-10-20 09:17:55 -04:00
committed by GitHub
co-authored by bresch
parent b400b7fcc4
commit fb3adc3faa
5 changed files with 27 additions and 24 deletions
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src/modules/ekf2/EKF/ekf.h
+1 -1
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@@ -864,7 +864,7 @@ private:
// and a scalar innovation value
void fuse(const Vector24f &K, float innovation);
float compensateBaroForDynamicPressure(float baro_alt_uncompensated) const override;
float compensateBaroForDynamicPressure(float baro_alt_uncompensated) const;
// calculate the earth rotation vector from a given latitude
Vector3f calcEarthRateNED(float lat_rad) const;