AP_NavEKF3: added timestamp for external position estimate

ArduPilot · May 28, 2023 · 079b711 · 079b711
1 parent 29b21b0
commit 079b711
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Showing 4 changed files with 5 additions and 5 deletions.
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.cpp b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
@@ -1408,7 +1408,7 @@ bool NavEKF3::setOriginLLH(const Location &loc)
     return ret;
 }
 
-bool NavEKF3::setLatLng(const Location &loc, float posAccuracy)
+bool NavEKF3::setLatLng(const Location &loc, float posAccuracy, uint32_t timestamp_ms)
 {
     AP::dal().log_SetLatLng(loc, posAccuracy);
 
@@ -1417,7 +1417,7 @@ bool NavEKF3::setLatLng(const Location &loc, float posAccuracy)
     }
     bool ret = false;
     for (uint8_t i=0; i<num_cores; i++) {
-        ret |= core[i].setLatLng(loc, posAccuracy);
+        ret |= core[i].setLatLng(loc, posAccuracy, timestamp_ms);
     }
     // return true if any core accepts the new origin
     return ret;

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.h b/libraries/AP_NavEKF3/AP_NavEKF3.h
@@ -155,7 +155,7 @@ class NavEKF3 {
     // Set the EKF's NE horizontal position states and their corresponding variances from a supplied WGS-84 location and uncertainty
     // The altitude element of the location is not used.
     // Returns true if the set was successful
-    bool setLatLng(const Location &loc, float posErr);
+    bool setLatLng(const Location &loc, float posErr, uint32_t timestamp_ms);
 
     // return estimated height above ground level
     // return false if ground height is not being estimated.

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
@@ -147,7 +147,7 @@ void NavEKF3_core::ResetPosition(resetDataSource posResetSource)
 // Sets the EKF's NE horizontal position states and their corresponding variances from a supplied WGS-84 location and uncertainty
 // The altitude element of the location is not used.
 // Returns true if the set was successful
-bool NavEKF3_core::setLatLng(const Location &loc, float posAccuracy)
+bool NavEKF3_core::setLatLng(const Location &loc, float posAccuracy, uint32_t timestamp_ms)
 {
     if ((imuSampleTime_ms - lastPosPassTime_ms) < frontend->deadReckonDeclare_ms ||
         (PV_AidingMode == AID_NONE)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.h b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
@@ -233,7 +233,7 @@ class NavEKF3_core : public NavEKF_core_common
     // Set the EKF's NE horizontal position states and their corresponding variances from a supplied WGS-84 location and uncertainty
     // The altitude element of the location is not used.
     // Returns true if the set was successful
-    bool setLatLng(const Location &loc, float posAccuracy);
+    bool setLatLng(const Location &loc, float posAccuracy, uint32_t timestamp_ms);
 
     // return estimated height above ground level
     // return false if ground height is not being estimated.