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AP_NavEKF3: minor restructure of how fusePosData and fuseVelData are set

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this non-functional change slightly reduces the number of places we set these variables
This commit is contained in:
Randy Mackay 2020-07-04 12:39:08 +09:00
parent 2e85ba6f51
commit 0cebde0632
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
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@ -407,6 +407,10 @@ void NavEKF3_core::SelectVelPosFusion()
// get data that has now fallen behind the fusion time horizon // get data that has now fallen behind the fusion time horizon
gpsDataToFuse = storedGPS.recall(gpsDataDelayed,imuDataDelayed.time_ms); gpsDataToFuse = storedGPS.recall(gpsDataDelayed,imuDataDelayed.time_ms);
// initialise all possible data we may fuse
fusePosData = false;
fuseVelData = false;
// Determine if we need to fuse position and velocity data on this time step // Determine if we need to fuse position and velocity data on this time step
if (gpsDataToFuse && (PV_AidingMode == AID_ABSOLUTE) && (frontend->_fusionModeGPS != 3)) { if (gpsDataToFuse && (PV_AidingMode == AID_ABSOLUTE) && (frontend->_fusionModeGPS != 3)) {
@ -433,7 +437,6 @@ void NavEKF3_core::SelectVelPosFusion()
// use external nav system for position // use external nav system for position
extNavUsedForPos = true; extNavUsedForPos = true;
activeHgtSource = HGT_SOURCE_EXTNAV; activeHgtSource = HGT_SOURCE_EXTNAV;
fuseVelData = false;
fuseHgtData = true; fuseHgtData = true;
fusePosData = true; fusePosData = true;
@ -443,9 +446,6 @@ void NavEKF3_core::SelectVelPosFusion()
velPosObs[3] = extNavDataDelayed.pos.x; velPosObs[3] = extNavDataDelayed.pos.x;
velPosObs[4] = extNavDataDelayed.pos.y; velPosObs[4] = extNavDataDelayed.pos.y;
velPosObs[5] = extNavDataDelayed.pos.z; velPosObs[5] = extNavDataDelayed.pos.z;
} else {
fuseVelData = false;
fusePosData = false;
} }
// fuse external navigation velocity data if available // fuse external navigation velocity data if available