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ekf2: fix EV height bias predict call #22758

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Feb 20, 2024
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1 change: 1 addition & 0 deletions src/modules/ekf2/EKF/ev_control.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -41,6 +41,7 @@
void Ekf::controlExternalVisionFusion()
{
_ev_pos_b_est.predict(_dt_ekf_avg);
_ev_hgt_b_est.predict(_dt_ekf_avg);

// Check for new external vision data
extVisionSample ev_sample;
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2 changes: 1 addition & 1 deletion src/modules/ekf2/EKF/ev_height_control.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -45,7 +45,7 @@ void Ekf::controlEvHeightFusion(const extVisionSample &ev_sample, const bool com

HeightBiasEstimator &bias_est = _ev_hgt_b_est;

bias_est.predict(_dt_ekf_avg);
// bias_est.predict(_dt_ekf_avg) called by controlExternalVisionFusion()

// correct position for offset relative to IMU
const Vector3f pos_offset_body = _params.ev_pos_body - _params.imu_pos_body;
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