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Bug: stop overwriting fault status of index 0 with index 1

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kamilritz
2020-07-02 15:55:24 +02:00
committed by Mathieu Bresciani
parent 9e211d6ca1
commit 122f58b94d
2 changed files with 7 additions and 5 deletions
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EKF/mag_fusion.cpp
+4 -3
View File
@@ -173,6 +173,10 @@ void Ekf::fuseMag()
// before they are used to constrain heading drift
const bool update_all_states = ((_imu_sample_delayed.time_us - _flt_mag_align_start_time) > (uint64_t)5e6);
_fault_status.flags.bad_mag_x = false;
_fault_status.flags.bad_mag_y = false;
_fault_status.flags.bad_mag_z = false;
// update the states and covariance using sequential fusion of the magnetometer components
for (uint8_t index = 0; index <= 2; index++) {
@@ -365,9 +369,6 @@ void Ekf::fuseMag()
// if the covariance correction will result in a negative variance, then
// the covariance matrix is unhealthy and must be corrected
_fault_status.flags.bad_mag_x = false;
_fault_status.flags.bad_mag_y = false;
_fault_status.flags.bad_mag_z = false;
for (int i = 0; i < _k_num_states; i++) {
if (P(i,i) < KHP(i,i)) {
EKF/optflow_fusion.cpp
+3 -2
View File
@@ -428,6 +428,9 @@ void Ekf::fuseOptFlow()
}
_fault_status.flags.bad_optflow_X = false;
_fault_status.flags.bad_optflow_Y = false;
for (uint8_t obs_index = 0; obs_index <= 1; obs_index++) {
// copy the Kalman gain vector for the axis we are fusing
@@ -468,8 +471,6 @@ void Ekf::fuseOptFlow()
// if the covariance correction will result in a negative variance, then
// the covariance matrix is unhealthy and must be corrected
bool healthy = true;
_fault_status.flags.bad_optflow_X = false;
_fault_status.flags.bad_optflow_Y = false;
for (int i = 0; i < _k_num_states; i++) {
if (P(i,i) < KHP(i,i)) {