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ekf2: fix EV height bias predict call 

- needs to be called every iteration
This commit is contained in:
Daniel Agar 2024-02-14 21:56:23 -05:00
parent c221da27a7
commit 021dd0d0af
2 changed files with 2 additions and 1 deletions
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1
src/modules/ekf2/EKF/ev_control.cpp
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@ -41,6 +41,7 @@
void Ekf::controlExternalVisionFusion()
{
_ev_pos_b_est.predict(_dt_ekf_avg);
_ev_hgt_b_est.predict(_dt_ekf_avg);
// Check for new external vision data
extVisionSample ev_sample;

2
src/modules/ekf2/EKF/ev_height_control.cpp
View File

@ -45,7 +45,7 @@ void Ekf::controlEvHeightFusion(const extVisionSample &ev_sample, const bool com
HeightBiasEstimator &bias_est = _ev_hgt_b_est;
bias_est.predict(_dt_ekf_avg);
// bias_est.predict(_dt_ekf_avg) called by controlExternalVisionFusion()
// correct position for offset relative to IMU
const Vector3f pos_offset_body = _params.ev_pos_body - _params.imu_pos_body;