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ekf2: fake_hgt don't use fuseVerticalPosition helper

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- fake_hgt shouldn't update _time_last_hgt_fuse
This commit is contained in:
Daniel Agar
2024-07-05 11:00:29 -04:00
parent 6fe0fa6d63
commit 57c1ba545f
1 changed files with 7 additions and 1 deletions
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src/modules/ekf2/EKF/aid_sources/fake_height_control.cpp
+7 -1
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@@ -63,7 +63,13 @@ void Ekf::controlFakeHgtFusion()
// always protect against extreme values that could result in a NaN // always protect against extreme values that could result in a NaN
if (aid_src.test_ratio < sq(100.0f / innov_gate)) { if (aid_src.test_ratio < sq(100.0f / innov_gate)) {
fuseVerticalPosition(aid_src); if (!aid_src.innovation_rejected
&& fuseDirectStateMeasurement(aid_src.innovation, aid_src.innovation_variance, aid_src.observation_variance,
State::pos.idx + 2)
) {
aid_src.fused = true;
aid_src.time_last_fuse = _time_delayed_us;
}
} }
const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, (uint64_t)4e5); const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, (uint64_t)4e5);