Further build cleanup

src/modules/fw_att_pos_estimator/estimator.cpp

@@ -22,7 +22,6 @@ Vector3f accel; // acceleration vector in XYZ body axes measured by the IMU (m/s
 Vector3f dVelIMU;
 Vector3f dAngIMU;
 float dtIMU; // time lapsed since the last IMU measurement or covariance update (sec)
-float dt; // time lapsed since last covariance prediction
 uint8_t fusionModeGPS = 0; // 0 = GPS outputs 3D velocity, 1 = GPS outputs 2D velocity, 2 = GPS outputs no velocity
 float innovVelPos[6]; // innovation output
 float varInnovVelPos[6]; // innovation variance output
@@ -292,7 +291,7 @@ void  UpdateStrapdownEquationsNED()
 
 }
 
-void CovariancePrediction()
+void CovariancePrediction(float dt)
 {
     // scalars
     float windVelSigma;
@@ -1868,5 +1867,4 @@ void InitialiseFilter(float (&initvelNED)[3])
     summedDelVel.x = 0.0f;
     summedDelVel.y = 0.0f;
     summedDelVel.z = 0.0f;
-    dt = 0.0f;
 }

src/modules/fw_att_pos_estimator/estimator.h

@@ -68,7 +68,6 @@ extern Vector3f correctedDelVel; // delta velocities along the XYZ body axes cor
 extern Vector3f summedDelAng; // summed delta angles about the xyz body axes corrected for errors (rad)
 extern Vector3f summedDelVel; // summed delta velocities along the XYZ body axes corrected for errors (m/s)
 
-extern float dt; // time lapsed since last covariance prediction
 extern float dtIMU; // time lapsed since the last IMU measurement or covariance update (sec)
 
 extern bool onGround; // boolean true when the flight vehicle is on the ground (not flying)
@@ -126,7 +125,7 @@ const float covDelAngMax = 0.05f; // maximum delta angle between covariance pred
 
 void  UpdateStrapdownEquationsNED();
 
-void CovariancePrediction();
+void CovariancePrediction(float dt);
 
 void FuseVelposNED();
 

src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp

@@ -405,6 +405,8 @@ FixedwingEstimator::task_main()
 	Vector3f lastAngRate = {0.0f, 0.0f, 0.0f};
 	Vector3f lastAccel = {0.0f, 0.0f, 0.0f};
 
+	float dt = 0.0f; // time lapsed since last covariance prediction
+
 	/* wakeup source(s) */
 	struct pollfd fds[2];
 
@@ -675,7 +677,7 @@ FixedwingEstimator::task_main()
 				 * or the time limit will be exceeded on the next measurement update
 				 */
 				if ((dt >= (covTimeStepMax - dtIMU)) || (summedDelAng.length() > covDelAngMax)) {
-					CovariancePrediction();
+					CovariancePrediction(dt);
 					summedDelAng = summedDelAng.zero();
 					summedDelVel = summedDelVel.zero();
 					dt = 0.0f;