private void UpdateStateEstimators(SimulationStepResults simulationState, GameTime gameTime, JoystickOutput output,
out PhysicalHeliState estimatedState,
out PhysicalHeliState blindEstimatedState,
out PhysicalHeliState observedState)
{
var dtMillis = (long)gameTime.ElapsedGameTime.TotalMilliseconds;
var totalMillis = (long)gameTime.TotalGameTime.TotalMilliseconds;
// TimeSpan totalSimulationTime = gameTime.TotalGameTime;
// Update sensors prior to using the state provider,
// because they are typically dependent on the state of the sensors.
Sensors.Update(_simulationState, output);
// Update states
((SensorEstimatedState)_estimatedStateProvider).CheatingTrueState = simulationState; // TODO Temp cheating
_estimatedStateProvider.Update(simulationState, dtMillis, totalMillis, output);
// TODO Separate physical and navigational states
_estimatedStateProvider.GetState(out estimatedState, out observedState, out blindEstimatedState);
}
