EKF2: use timestamp from argument of PublishEvPosBias() #21822
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
bresch
requested changes
Jul 8, 2023
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
bresch
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Jul 11, 2023
antbre
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Sep 14, 2023
* EKF2: use timestamp from argument of PublishEvPosBias() Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * Update src/modules/ekf2/EKF2.cpp Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com> --------- Signed-off-by: Silvan Fuhrer <silvan@auterion.com> Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
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Solved Problem
The timestamps of estimator_ev_pos_bias are broken in EKF replay.
Solution
Fill timestamp field with what was passed into PublishEvPosBias() as an argument instead of calling hrt_absolute_time().