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Improve naming

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kamilritz
2020-01-06 12:55:38 +01:00
committed by Paul Riseborough
parent f99dbd8ca3
commit 066392ef02
1 changed files with 3 additions and 3 deletions
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EKF/gps_checks.cpp
+3 -3
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@@ -145,12 +145,12 @@ bool Ekf::gps_is_good(const gps_message &gps)
double lon = gps.lon * 1.0e-7;
if (!_control_status.flags.in_air && _vehicle_at_rest) {
// Calculate position movement since last measurement
float delta_posN = 0.0f;
float delta_pos_n = 0.0f;
float delta_pos_e = 0.0f;
// calculate position movement since last GPS fix
if (_gps_pos_prev.timestamp > 0) {
map_projection_project(&_gps_pos_prev, lat, lon, &delta_posN, &delta_pos_e);
map_projection_project(&_gps_pos_prev, lat, lon, &delta_pos_n, &delta_pos_e);
} else {
// no previous position has been set
@@ -160,7 +160,7 @@ bool Ekf::gps_is_good(const gps_message &gps)
// Calculate the horizontal and vertical drift velocity components and limit to 10x the threshold
const Vector3f vel_limit(_params.req_hdrift, _params.req_hdrift, _params.req_vdrift);
Vector3f pos_derived(delta_posN, delta_pos_e, (_gps_alt_prev - 1e-3f * (float)gps.alt));
Vector3f pos_derived(delta_pos_n, delta_pos_e, (_gps_alt_prev - 1e-3f * (float)gps.alt));
pos_derived = matrix::constrain(pos_derived / dt, -10.0f * vel_limit, 10.0f * vel_limit);
// Apply a low pass filter