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EKF: replace fault status struct with a union to facilitate logging

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Paul Riseborough
2016-05-07 21:11:16 +10:00
parent 7f5669fb2d
commit 020b87933e
7 changed files with 57 additions and 54 deletions
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EKF/vel_pos_fusion.cpp
+12 -12
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@@ -222,32 +222,32 @@ void Ekf::fuseVelPosHeight()
// update individual measurement health status
if (obs_index == 0) {
_fault_status.bad_vel_N = true;
_fault_status.flags.bad_vel_N = true;
} else if (obs_index == 1) {
_fault_status.bad_vel_E = true;
_fault_status.flags.bad_vel_E = true;
} else if (obs_index == 2) {
_fault_status.bad_vel_D = true;
_fault_status.flags.bad_vel_D = true;
} else if (obs_index == 3) {
_fault_status.bad_pos_N = true;
_fault_status.flags.bad_pos_N = true;
} else if (obs_index == 4) {
_fault_status.bad_pos_E = true;
_fault_status.flags.bad_pos_E = true;
} else if (obs_index == 5) {
_fault_status.bad_pos_D = true;
_fault_status.flags.bad_pos_D = true;
}
} else {
// update individual measurement health status
if (obs_index == 0) {
_fault_status.bad_vel_N = false;
_fault_status.flags.bad_vel_N = false;
} else if (obs_index == 1) {
_fault_status.bad_vel_E = false;
_fault_status.flags.bad_vel_E = false;
} else if (obs_index == 2) {
_fault_status.bad_vel_D = false;
_fault_status.flags.bad_vel_D = false;
} else if (obs_index == 3) {
_fault_status.bad_pos_N = false;
_fault_status.flags.bad_pos_N = false;
} else if (obs_index == 4) {
_fault_status.bad_pos_E = false;
_fault_status.flags.bad_pos_E = false;
} else if (obs_index == 5) {
_fault_status.bad_pos_D = false;
_fault_status.flags.bad_pos_D = false;
}
}
}