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AP_NavEKF2: Fix one frame delay in processing yaw estimator velocity data

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Paul Riseborough 2020-04-25 07:52:45 +10:00 committed by Peter Barker
parent 0ce4dd457d
commit ccaa4d6aa9
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
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@ -565,7 +565,7 @@ void NavEKF2_core::runYawEstimatorCorrection()
if (gpsDataToFuse) {
Vector2f gpsVelNE = Vector2f(gpsDataDelayed.vel.x, gpsDataDelayed.vel.y);
float gpsVelAcc = fmaxf(gpsSpdAccuracy, frontend->_gpsHorizVelNoise);
yawEstimator->pushVelData(gpsVelNE, gpsVelAcc);
yawEstimator->fuseVelData(gpsVelNE, gpsVelAcc);
}
// action an external reset request