fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-26 05:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: expand accel bias stability criteria

Browse Source
This commit is contained in:
Daniel Agar
2022-01-04 13:57:49 -05:00
parent 846f807eff
commit 170849c8f8
5 changed files with 73 additions and 52 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF/common.h
+1 -1
View File
@@ -548,7 +548,7 @@ union warning_event_status_u {
bool gps_data_stopped_using_alternate : 1; ///< 3 - true when the gps data has stopped for a significant time period but the filter is able to use other sources of data to maintain navigation
bool height_sensor_timeout : 1; ///< 4 - true when the height sensor has not been used to correct the state estimates for a significant time period
bool stopping_navigation : 1; ///< 5 - true when the filter has insufficient data to estimate velocity and position and is falling back to an attitude, height and height rate mode of operation
bool invalid_accel_bias_cov_reset : 1; ///< 6 - true when the filter has detected bad acceerometer bias state esitmstes and has reset the corresponding covariance matrix elements
bool invalid_accel_bias_cov_reset : 1; ///< 6 - true when the filter has detected bad acceerometer bias state estimates and has reset the corresponding covariance matrix elements
bool bad_yaw_using_gps_course : 1; ///< 7 - true when the fiter has detected an invalid yaw esitmate and has reset the yaw angle to the GPS ground course
bool stopping_mag_use : 1; ///< 8 - true when the filter has detected bad magnetometer data and is stopping further use of the magnetomer data
bool vision_data_stopped : 1; ///< 9 - true when the vision system data has stopped for a significant time period