From cba4311199771623676bbf4e049b90f1c2074bd2 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 28 May 2026 08:38:33 +1000
Subject: [PATCH] AP_AHRS: combine copy_estimates_from_backend_estimates and
 update_state

gets all of the same logic into the same method.  They were both already updating global state and state state
---
 libraries/AP_AHRS/AP_AHRS.cpp | 47 +++++++++++++++--------------------
 libraries/AP_AHRS/AP_AHRS.h   |  7 ------
 2 files changed, 20 insertions(+), 34 deletions(-)

diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp
index 35aa2497bc7547..7b7628f7260783 100644
--- a/libraries/AP_AHRS/AP_AHRS.cpp
+++ b/libraries/AP_AHRS/AP_AHRS.cpp
@@ -438,7 +438,9 @@ void AP_AHRS::reset_gyro_drift(void)
 }
 
 /*
-  update state structure after each update()
+ * copy results from a backend over AP_AHRS canonical results.
+ * This updates member variables like roll and pitch, as well as
+ * updating derived values like sin_roll and sin_pitch.
  */
 void AP_AHRS::update_state(void)
 {
@@ -458,6 +460,22 @@ void AP_AHRS::update_state(void)
     state.airspeed_EAS_ok = _airspeed_EAS(state.airspeed_EAS, state.airspeed_estimate_type);
     state.airspeed_TAS_ok = _airspeed_TAS(state.airspeed_TAS);
     state.airspeed_TAS_vec_ok = _airspeed_TAS(state.airspeed_TAS_vec);
+
+    roll = active_estimates->roll_rad;
+    pitch = active_estimates->pitch_rad;
+    yaw = active_estimates->yaw_rad;
+
+    state.dcm_matrix = active_estimates->dcm_matrix;
+
+    state.gyro_estimate = active_estimates->gyro_estimate;
+    state.gyro_drift = active_estimates->gyro_drift;
+
+    state.accel_ef = active_estimates->accel_ef;
+    state.accel_bias = active_estimates->accel_bias;
+
+    update_cd_values();
+    update_trig();
+
     state.quat_ok = active_estimates->get_quaternion(state.quat);
     state.secondary_attitude_ok = _get_secondary_attitude(state.secondary_attitude);
     state.secondary_quat_ok = _get_secondary_quaternion(state.secondary_quat);
@@ -572,11 +590,9 @@ void AP_AHRS::update(bool skip_ins_update)
     }
 #endif // HAL_GCS_ENABLED
 
-    // update published state
+    // update published state, including copying state from the active backend:
     update_state();
 
-    copy_estimates_from_backend_estimates(*active_estimates);
-
 #if AP_MODULE_SUPPORTED
     // call AHRS_update hook if any
     AP_Module::call_hook_AHRS_update(*this);
@@ -607,29 +623,6 @@ void AP_AHRS::update(bool skip_ins_update)
 #endif
 }
 
-/*
- * copy results from a backend over AP_AHRS canonical results.
- * This updates member variables like roll and pitch, as well as
- * updating derived values like sin_roll and sin_pitch.
- */
-void AP_AHRS::copy_estimates_from_backend_estimates(const AP_AHRS_Backend::Estimates &results)
-{
-    roll = results.roll_rad;
-    pitch = results.pitch_rad;
-    yaw = results.yaw_rad;
-
-    state.dcm_matrix = results.dcm_matrix;
-
-    state.gyro_estimate = results.gyro_estimate;
-    state.gyro_drift = results.gyro_drift;
-
-    state.accel_ef = results.accel_ef;
-    state.accel_bias = results.accel_bias;
-
-    update_cd_values();
-    update_trig();
-}
-
 #if AP_AHRS_DCM_ENABLED
 void AP_AHRS::update_DCM()
 {
diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h
index 27c41863e33923..628b470ae5d177 100644
--- a/libraries/AP_AHRS/AP_AHRS.h
+++ b/libraries/AP_AHRS/AP_AHRS.h
@@ -924,13 +924,6 @@ class AP_AHRS {
     // poke AP_Notify based on values from status
     void update_notify_from_filter_status(const nav_filter_status &status);
 
-    /*
-     * copy results from a backend over AP_AHRS canonical results.
-     * This updates member variables like roll and pitch, as well as
-     * updating derived values like sin_roll and sin_pitch.
-     */
-    void copy_estimates_from_backend_estimates(const AP_AHRS_Backend::Estimates &results);
-
     // write out secondary estimates:
     void Write_AHRS2(void) const;
     // write POS (canonical vehicle position) message out: