From cc92979b06e15bf97494fb574dbd7d3b878bf634 Mon Sep 17 00:00:00 2001 From: bresch Date: Thu, 12 Dec 2024 14:04:53 +0100 Subject: [PATCH] ekf-agp: fix timeout --- .../EKF/aid_sources/aux_global_position/aux_global_position.cpp | 2 +- .../EKF/aid_sources/aux_global_position/aux_global_position.hpp | 1 + 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.cpp b/src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.cpp index 1d425cb85384..6aec6936b210 100644 --- a/src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.cpp +++ b/src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.cpp @@ -73,7 +73,7 @@ void AuxGlobalPosition::update(Ekf &ekf, const estimator::imuSample &imu_delayed return; } - estimator_aid_source2d_s aid_src{}; + estimator_aid_source2d_s &aid_src = _aid_src_aux_global_position; const LatLonAlt position(sample.latitude, sample.longitude, sample.altitude_amsl); const Vector2f innovation = (ekf.getLatLonAlt() - position).xy(); // altitude measurements are not used diff --git a/src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.hpp b/src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.hpp index e5bc78026a68..423462d6eef1 100644 --- a/src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.hpp +++ b/src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.hpp @@ -92,6 +92,7 @@ class AuxGlobalPosition : public ModuleParams uint8_t lat_lon_reset_counter{}; }; + estimator_aid_source2d_s _aid_src_aux_global_position{}; RingBuffer _aux_global_position_buffer{20}; // TODO: size with _obs_buffer_length and actual publication rate uint64_t _time_last_buffer_push{0};