fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-16 17:10:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

estimatorChecks: disable warning for imminent position failure if that is disabled (#23556)

Browse Source 
COM_POS_FS_EPH can be set to -1, in which case the actual failure eph is INFINITY.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2024-08-16 13:57:37 +02:00
committed by GitHub
parent 4a3cbecf01
commit 09638552b7
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
+1 -1
View File
@@ -727,7 +727,7 @@ void EstimatorChecks::setModeRequirementFlags(const Context &context, bool pre_f
_last_gpos_fail_time_us, !failsafe_flags.global_position_invalid);
// Additional warning if the system is about to enter position-loss failsafe after dead-reckoning period
const float eph_critical = 2.5f * _param_com_pos_fs_eph.get(); // threshold used to trigger the navigation failsafe
const float eph_critical = 2.5f * lpos_eph_threshold; // threshold used to trigger the navigation failsafe
const float gpos_critical_warning_thrld = math::max(0.9f * eph_critical, math::max(eph_critical - 10.f, 0.f));
estimator_status_flags_s estimator_status_flags;