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ekf control: move time_last_in_air/on_ground out of GPS control logic

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bresch
2021-02-18 10:11:51 +01:00
committed by Mathieu Bresciani
parent b00d4a9237
commit 04844a04ed
3 changed files with 12 additions and 12 deletions
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EKF/estimator_interface.h
+12 -1
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@@ -94,7 +94,16 @@ public:
parameters *getParamHandle() { return &_params; }
// set vehicle landed status data
void set_in_air_status(bool in_air) { _control_status.flags.in_air = in_air; }
void set_in_air_status(bool in_air)
{
if (!in_air) {
_time_last_on_ground_us = _time_last_imu;
} else {
_time_last_in_air = _time_last_imu;
}
_control_status.flags.in_air = in_air;
}
// return true if the attitude is usable
bool attitude_valid() const { return ISFINITE(_output_new.quat_nominal(0)) && _control_status.flags.tilt_align; }
@@ -320,6 +329,8 @@ protected:
// [1] Vertical position drift rate (m/s)
// [2] Filtered horizontal velocity (m/s)
uint64_t _time_last_move_detect_us{0}; // timestamp of last movement detection event in microseconds
uint64_t _time_last_on_ground_us{0}; ///< last time we were on the ground (uSec)
uint64_t _time_last_in_air{0}; ///< last time we were in air (uSec)
bool _gps_drift_updated{false}; // true when _gps_drift_metrics has been updated and is ready for retrieval
// data buffer instances