fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-04 08:21:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: synchronize z_valid and v_z_valid

Browse Source 
mc_pos_control doesn't handle all the cases at the moment
This commit is contained in:
bresch
2022-09-29 14:16:36 -04:00
committed by Daniel Agar
parent f753b92cff
commit 1914053db2
1 changed files with 4 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF2.cpp
+4 -3
View File
@@ -1096,11 +1096,12 @@ void EKF2::PublishLocalPosition(const hrt_abstime &timestamp)
lpos.ay = vel_deriv(1); lpos.ay = vel_deriv(1);
lpos.az = vel_deriv(2); lpos.az = vel_deriv(2);
// TODO: better status reporting
lpos.xy_valid = _ekf.local_position_is_valid(); lpos.xy_valid = _ekf.local_position_is_valid();
lpos.z_valid = _ekf.isLocalVerticalPositionValid();
lpos.v_xy_valid = _ekf.local_position_is_valid(); lpos.v_xy_valid = _ekf.local_position_is_valid();
lpos.v_z_valid = _ekf.isLocalVerticalVelocityValid();
// TODO: some modules (e.g.: mc_pos_control) don't handle v_z_valid != z_valid properly
lpos.z_valid = _ekf.isLocalVerticalPositionValid() || _ekf.isLocalVerticalVelocityValid();
lpos.v_z_valid = _ekf.isLocalVerticalVelocityValid() || _ekf.isLocalVerticalPositionValid();
// Position of local NED origin in GPS / WGS84 frame // Position of local NED origin in GPS / WGS84 frame
if (_ekf.global_origin_valid()) { if (_ekf.global_origin_valid()) {