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ekf2: delete isMagBiasObservable()

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Daniel Agar
2022-03-21 14:22:36 -04:00
parent d160229f47
commit 0f1f6daa1a
2 changed files with 1 additions and 2 deletions
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src/modules/ekf2/EKF/ekf.h
-1
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@@ -859,7 +859,6 @@ private:
void check3DMagFusionSuitability(); void check3DMagFusionSuitability();
void checkYawAngleObservability(); void checkYawAngleObservability();
void checkMagBiasObservability(); void checkMagBiasObservability();
bool isMagBiasObservable() const { return _mag_bias_observable; }
bool canUse3DMagFusion() const; bool canUse3DMagFusion() const;
void checkMagDeclRequired(); void checkMagDeclRequired();
src/modules/ekf2/EKF/mag_control.cpp
+1 -1
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@@ -218,7 +218,7 @@ void Ekf::check3DMagFusionSuitability()
checkYawAngleObservability(); checkYawAngleObservability();
checkMagBiasObservability(); checkMagBiasObservability();
if (isMagBiasObservable() || _yaw_angle_observable) { if (_mag_bias_observable || _yaw_angle_observable) {
_time_last_mov_3d_mag_suitable = _imu_sample_delayed.time_us; _time_last_mov_3d_mag_suitable = _imu_sample_delayed.time_us;
} }
} }