ekf-agp: fix timeout

PX4 · Dec 12, 2024 · cc92979 · cc92979
1 parent fc6c678
commit cc92979
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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
@@ -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
@@ -92,6 +92,7 @@ class AuxGlobalPosition : public ModuleParams
 		uint8_t lat_lon_reset_counter{};
 	};
 
+	estimator_aid_source2d_s _aid_src_aux_global_position{};
 	RingBuffer<AuxGlobalPositionSample> _aux_global_position_buffer{20}; // TODO: size with _obs_buffer_length and actual publication rate
 	uint64_t _time_last_buffer_push{0};