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ekf2: changes arising from code review

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This commit is contained in:
Paul Riseborough
2017-05-16 18:50:19 +10:00
committed by Lorenz Meier
parent 394dd95cba
commit 05c3c46f83
3 changed files with 9 additions and 8 deletions
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EKF/control.cpp
+2 -2
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@@ -888,7 +888,7 @@ void Ekf::controlMagFusion()
}
// If we are on ground, store the local position and time to use as a reference
// Also reset the flight alignment falg so that the mag fields will be re-initialised next time we achieve flight altitude
// Also reset the flight alignment flag so that the mag fields will be re-initialised next time we achieve flight altitude
if (!_control_status.flags.in_air) {
_last_on_ground_posD = _state.pos(2);
_flt_mag_align_complete = false;
@@ -941,7 +941,7 @@ void Ekf::controlMagFusion()
bool use_3D_fusion = _control_status.flags.tilt_align && // Use of 3D fusion requires valid tilt estimates
_control_status.flags.in_air && // don't use when on the ground becasue of magnetic anomalies
(_flt_mag_align_complete || height_achieved) && // once in-flight field alignment has been performed, ignore relative height
((_imu_sample_delayed.time_us - _time_last_movement) < 2000000); // Using 3-axis fusion for a minimum period after to allow for false negatives
((_imu_sample_delayed.time_us - _time_last_movement) < 2 * 1000 * 1000); // Using 3-axis fusion for a minimum period after to allow for false negatives
// perform switch-over
if (use_3D_fusion) {