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Rename mag ambiguous mag abbreviations with magnitude

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kamilritz
2020-01-07 08:14:59 +11:00
committed by Paul Riseborough
parent a24aaad861
commit 1c68709949
5 changed files with 15 additions and 15 deletions
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EKF/control.cpp
+2 -2
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@@ -415,7 +415,7 @@ void Ekf::controlOpticalFlowFusion()
const bool motion_is_excessive = ((accel_norm > (CONSTANTS_ONE_G * 1.5f)) // upper g limit
|| (accel_norm < (CONSTANTS_ONE_G * 0.5f)) // lower g limit
|| (_ang_rate_mag_filt > _flow_max_rate) // angular rate exceeds flow sensor limit
|| (_ang_rate_magnitude_filt > _flow_max_rate) // angular rate exceeds flow sensor limit
|| (_R_to_earth(2,2) < cosf(math::radians(30.0f)))); // tilted excessively
if (motion_is_excessive) {
@@ -1136,7 +1136,7 @@ void Ekf::controlHeightFusion()
_hgt_sensor_offset = 0.0f;
}
}
// TODO: Add EV normal case here
// determine if we should use the vertical position observation
if (_control_status.flags.ev_hgt) {
_fuse_height = true;