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EKF: Use more generic variable name for bad yaw fusion flag

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This flag now reports on  fusion of data that is not from a magnetometer.
This commit is contained in:
Paul Riseborough
2018-09-19 06:32:43 +10:00
committed by Paul Riseborough
parent eb52f7c410
commit 0220f469b0
3 changed files with 9 additions and 9 deletions
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EKF/mag_fusion.cpp
+4 -4
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@@ -666,12 +666,12 @@ void Ekf::fuseHeading()
// check if the innovation variance calculation is badly conditioned
if (_heading_innov_var >= R_YAW) {
// the innovation variance contribution from the state covariances is not negative, no fault
_fault_status.flags.bad_mag_hdg = false;
_fault_status.flags.bad_hdg = false;
heading_innov_var_inv = 1.0f / _heading_innov_var;
} else {
// the innovation variance contribution from the state covariances is negative which means the covariance matrix is badly conditioned
_fault_status.flags.bad_mag_hdg = true;
_fault_status.flags.bad_hdg = true;
// we reinitialise the covariance matrix and abort this fusion step
initialiseCovariance();
@@ -756,7 +756,7 @@ void Ekf::fuseHeading()
// if the covariance correction will result in a negative variance, then
// the covariance marix is unhealthy and must be corrected
bool healthy = true;
_fault_status.flags.bad_mag_hdg = false;
_fault_status.flags.bad_hdg = false;
for (int i = 0; i < _k_num_states; i++) {
if (P[i][i] < KHP[i][i]) {
@@ -768,7 +768,7 @@ void Ekf::fuseHeading()
healthy = false;
// update individual measurement health status
_fault_status.flags.bad_mag_hdg = true;
_fault_status.flags.bad_hdg = true;
}
}