AP_AHRS: combine copy_estimates_from_backend_estimates and update_state

[peterbarker]

Summary

Combines two methods to keep the logic together

Classification & Testing (check all that apply and add your own)

• Checked by a human programmer
• Non-functional change
• No-binary change
• Infrastructure change (e.g. unit tests, helper scripts)
• Automated test(s) verify changes (e.g. unit test, autotest)
• Tested manually, description below (e.g. SITL)
• Tested on hardware
• Logs attached
• Logs available on request

Board                    AP_Periph  antennatracker  blimp  bootloader  copter  heli  iofirmware  plane  rover  sub
CubeOrange-periph-heavy  *                                 *
Durandal                            -24             -16    *           -16     -24               -16    -24    -16
Hitec-Airspeed           *                                 *
KakuteH7-bdshot                     -16             -16    *           -24     -16               -24    -24    -16
MatekF405                           -24             -16    *           -16     -16               -24    -24    -16
MatekH7A3                           -24             -24    *           -24     -24               -16    -24    -16
Pixhawk1-1M-bdshot                  -24             -16                -24     -24               -24    -16    -24
SITL_x86_64_linux_gnu               0               0                  0       0                 0      0      0
YJUAV_A6SE                          -16             -16    *           -16     -16               -16    -16    -16
f103-QiotekPeriph        *                                 *
f303-MatekGPS            *                                 *
f303-Universal           *                                 *
iomcu                                                                                *
mindpx-v2                           -16             -24    *           -24     -16               -24    -24    -16
revo-mini                           -16             -16    *           -24     -16               -24    -24    -24
skyviper-v2450                                                         -16
speedybeef4                         -16             -24    *           -24     -24               -24    -24    -16

Description

gets all of the same logic into the same method. They were both already updating global state and state state

The method may eventually be replaced with a simple assignment (or eliminated as everything is fetched from the relevant backend estimates pointer)