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AP_ExternalAHRS: stamp last_location_update_us in MicroStrain7 driver
Every other ExternalAHRS backend records last_location_update_us when it writes state.location; the MicroStrain7 driver never did. That left get_location's velocity-based position extrapolation - intended to cope with slow backends - permanently disabled for MicroStrain7, so the reported position was stale by up to one filter-packet interval. Mirror the MicroStrain5 driver. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
This commit is contained in:
committed by
Andrew Tridgell
co-authored by
Claude Fable 5
parent
c10d258422
commit
128fccc773
@@ -200,6 +200,7 @@ void AP_ExternalAHRS_MicroStrain7::post_filter() const
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// Use GNSS 0 even though it may be bad.
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state.location = Location{filter_data.lat, filter_data.lon, gnss_data[0].msl_altitude, Location::AltFrame::ABSOLUTE};
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state.have_location = true;
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state.last_location_update_us = AP_HAL::micros();
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state.quat = filter_data.attitude_quat;
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state.have_quaternion = true;
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