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Update EKF baro interface

This commit is contained in:
kamilritz 2020-01-21 14:38:53 +01:00 committed by Mathieu Bresciani
parent 439a20bfcb
commit 19b7421f86
1 changed files with 2 additions and 1 deletions
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3
src/modules/ekf2/ekf2_main.cpp
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@ -911,7 +911,8 @@ void Ekf2::Run()
if (_airdata_sub.copy(&airdata)) {
_ekf.set_air_density(airdata.rho);
_ekf.setBaroData((uint64_t)airdata.timestamp, airdata.baro_alt_meter);
const baroSample baro_sample {airdata.baro_alt_meter, airdata.timestamp};
_ekf.setBaroData(baro_sample);
ekf2_timestamps.vehicle_air_data_timestamp_rel = (int16_t)((int64_t)airdata.timestamp / 100 -
(int64_t)ekf2_timestamps.timestamp / 100);
}