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AP_NavEKF3: moved checkUpdateEarthField to be called less often

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This commit is contained in:
Andrew Tridgell 2021-07-09 12:52:17 +10:00
parent d91397f2f2
commit 5319e3910f
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
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@ -700,6 +700,9 @@ void NavEKF3_core::UpdateFilter(bool predict)
// Update the filter status // Update the filter status
updateFilterStatus(); updateFilterStatus();
// check for update of earth field
checkUpdateEarthField();
} }
// Wind output forward from the fusion to output time horizon // Wind output forward from the fusion to output time horizon
@ -725,9 +728,6 @@ void NavEKF3_core::UpdateFilter(bool predict)
statesInitialised = false; statesInitialised = false;
InitialiseFilterBootstrap(); InitialiseFilterBootstrap();
} }
// check for update of earth field
checkUpdateEarthField();
} }
void NavEKF3_core::correctDeltaAngle(Vector3F &delAng, ftype delAngDT, uint8_t gyro_index) void NavEKF3_core::correctDeltaAngle(Vector3F &delAng, ftype delAngDT, uint8_t gyro_index)