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Fix LH as ground truth for LH1 #1313

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merged 2 commits into from
Sep 12, 2023
Merged

Fix LH as ground truth for LH1 #1313

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2baebf2
Do not push LH1 sweep to estimator
krichardsson Sep 11, 2023
564d772
Do not increment counters
krichardsson Sep 11, 2023
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25 changes: 15 additions & 10 deletions src/modules/src/lighthouse/lighthouse_position_est.c
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Original file line number Diff line number Diff line change
Expand Up @@ -301,9 +301,12 @@ static void estimatePositionSweepsLh1(const pulseProcessor_t* appState, pulsePro
sweepInfo.calib = &bsCalib->sweep[0];
sweepInfo.sweepId = 0;

estimatorEnqueueSweepAngles(&sweepInfo);
STATS_CNT_RATE_EVENT(bsEstRates[baseStation]);
STATS_CNT_RATE_EVENT(&positionRate);
#ifndef CONFIG_DECK_LIGHTHOUSE_AS_GROUNDTRUTH
estimatorEnqueueSweepAngles(&sweepInfo);

STATS_CNT_RATE_EVENT(bsEstRates[baseStation]);
STATS_CNT_RATE_EVENT(&positionRate);
#endif
}

sweepInfo.measuredSweepAngle = measurement->angles[1];
Expand All @@ -315,10 +318,10 @@ static void estimatePositionSweepsLh1(const pulseProcessor_t* appState, pulsePro

#ifndef CONFIG_DECK_LIGHTHOUSE_AS_GROUNDTRUTH
estimatorEnqueueSweepAngles(&sweepInfo);
#endif

STATS_CNT_RATE_EVENT(bsEstRates[baseStation]);
STATS_CNT_RATE_EVENT(&positionRate);
STATS_CNT_RATE_EVENT(bsEstRates[baseStation]);
STATS_CNT_RATE_EVENT(&positionRate);
#endif
}
}
}
Expand Down Expand Up @@ -347,9 +350,10 @@ static void estimatePositionSweepsLh2(const pulseProcessor_t* appState, pulsePro
sweepInfo.sweepId = 0;
#ifndef CONFIG_DECK_LIGHTHOUSE_AS_GROUNDTRUTH
estimatorEnqueueSweepAngles(&sweepInfo);

STATS_CNT_RATE_EVENT(bsEstRates[baseStation]);
STATS_CNT_RATE_EVENT(&positionRate);
#endif
STATS_CNT_RATE_EVENT(bsEstRates[baseStation]);
STATS_CNT_RATE_EVENT(&positionRate);
}

sweepInfo.measuredSweepAngle = measurement->angles[1];
Expand All @@ -359,9 +363,10 @@ static void estimatePositionSweepsLh2(const pulseProcessor_t* appState, pulsePro
sweepInfo.sweepId = 1;
#ifndef CONFIG_DECK_LIGHTHOUSE_AS_GROUNDTRUTH
estimatorEnqueueSweepAngles(&sweepInfo);

STATS_CNT_RATE_EVENT(bsEstRates[baseStation]);
STATS_CNT_RATE_EVENT(&positionRate);
#endif
STATS_CNT_RATE_EVENT(bsEstRates[baseStation]);
STATS_CNT_RATE_EVENT(&positionRate);
}
}
}
Expand Down