forked from Archive/PX4-Autopilot
ekf2: fix EV height bias predict call
- needs to be called every iteration
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@ -41,6 +41,7 @@
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void Ekf::controlExternalVisionFusion()
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{
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_ev_pos_b_est.predict(_dt_ekf_avg);
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_ev_hgt_b_est.predict(_dt_ekf_avg);
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// Check for new external vision data
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extVisionSample ev_sample;
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@ -45,7 +45,7 @@ void Ekf::controlEvHeightFusion(const extVisionSample &ev_sample, const bool com
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HeightBiasEstimator &bias_est = _ev_hgt_b_est;
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bias_est.predict(_dt_ekf_avg);
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// bias_est.predict(_dt_ekf_avg) called by controlExternalVisionFusion()
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// correct position for offset relative to IMU
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const Vector3f pos_offset_body = _params.ev_pos_body - _params.imu_pos_body;
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