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#include "ekf.h"

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);

			updateHorizontalVelocityAidSrcStatus(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()) {
				fuseHorizontalVelocity(_aid_src_aux_vel);
			}
		}
	}
}

void Ekf::stopAuxVelFusion()
{
	ECL_INFO("stopping aux vel fusion");
	//_control_status.flags.aux_vel = false;
	resetEstimatorAidStatus(_aid_src_aux_vel);
}