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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
parent b400b7fcc4
commit fb3adc3faa
5 changed files with 27 additions and 24 deletions
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src/modules/ekf2/EKF/estimator_interface.cpp
+1 -1
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@@ -221,7 +221,7 @@ void EstimatorInterface::setBaroData(const baroSample &baro_sample)
baroSample baro_sample_new;
baro_sample_new.time_us = time_us;
baro_sample_new.hgt = compensateBaroForDynamicPressure(baro_sample.hgt);
baro_sample_new.hgt = baro_sample.hgt;
_baro_buffer->push(baro_sample_new);
_time_last_baro_buffer_push = _newest_high_rate_imu_sample.time_us;