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attitude_estimator_q_main: remove epsilon comparison; fix logic

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TSC21
2018-11-21 12:21:16 +01:00
committed by Lorenz Meier
parent 8566b6b53e
commit 20b3adebf4
1 changed files with 4 additions and 4 deletions
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src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+4 -4
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@@ -350,10 +350,10 @@ void AttitudeEstimatorQ::task_main()
if (orb_copy(ORB_ID(vehicle_visual_odometry), _vision_odom_sub, &vision) == PX4_OK) { if (orb_copy(ORB_ID(vehicle_visual_odometry), _vision_odom_sub, &vision) == PX4_OK) {
// validation check for vision attitude data // validation check for vision attitude data
bool vision_att_valid = PX4_ISFINITE(vision.q[0]) bool vision_att_valid = PX4_ISFINITE(vision.q[0])
&& (PX4_ISFINITE(vision.pose_covariance[vision.COVARIANCE_MATRIX_ROLL_VARIANCE]) ? fabsf(sqrtf(fmaxf( && (PX4_ISFINITE(vision.pose_covariance[vision.COVARIANCE_MATRIX_ROLL_VARIANCE]) ? sqrtf(fmaxf(
vision.pose_covariance[vision.COVARIANCE_MATRIX_ROLL_VARIANCE], vision.pose_covariance[vision.COVARIANCE_MATRIX_ROLL_VARIANCE],
fmaxf(vision.pose_covariance[vision.COVARIANCE_MATRIX_PITCH_VARIANCE], fmaxf(vision.pose_covariance[vision.COVARIANCE_MATRIX_PITCH_VARIANCE],
vision.pose_covariance[vision.COVARIANCE_MATRIX_YAW_VARIANCE]))) - _eo_max_std_dev) < FLT_EPSILON : true); vision.pose_covariance[vision.COVARIANCE_MATRIX_YAW_VARIANCE]))) <= _eo_max_std_dev : true);
if (vision_att_valid) { if (vision_att_valid) {
Dcmf Rvis = Quatf(vision.q); Dcmf Rvis = Quatf(vision.q);
@@ -382,10 +382,10 @@ void AttitudeEstimatorQ::task_main()
if (orb_copy(ORB_ID(vehicle_mocap_odometry), _mocap_odom_sub, &mocap) == PX4_OK) { if (orb_copy(ORB_ID(vehicle_mocap_odometry), _mocap_odom_sub, &mocap) == PX4_OK) {
// validation check for mocap attitude data // validation check for mocap attitude data
bool mocap_att_valid = PX4_ISFINITE(mocap.q[0]) bool mocap_att_valid = PX4_ISFINITE(mocap.q[0])
&& (PX4_ISFINITE(mocap.pose_covariance[mocap.COVARIANCE_MATRIX_ROLL_VARIANCE]) ? fabsf(sqrtf(fmaxf( && (PX4_ISFINITE(mocap.pose_covariance[mocap.COVARIANCE_MATRIX_ROLL_VARIANCE]) ? sqrtf(fmaxf(
mocap.pose_covariance[mocap.COVARIANCE_MATRIX_ROLL_VARIANCE], mocap.pose_covariance[mocap.COVARIANCE_MATRIX_ROLL_VARIANCE],
fmaxf(mocap.pose_covariance[mocap.COVARIANCE_MATRIX_PITCH_VARIANCE], fmaxf(mocap.pose_covariance[mocap.COVARIANCE_MATRIX_PITCH_VARIANCE],
mocap.pose_covariance[mocap.COVARIANCE_MATRIX_YAW_VARIANCE]))) - _eo_max_std_dev) < FLT_EPSILON : true); mocap.pose_covariance[mocap.COVARIANCE_MATRIX_YAW_VARIANCE]))) <= _eo_max_std_dev : true);
if (mocap_att_valid) { if (mocap_att_valid) {
Dcmf Rmoc = Quatf(mocap.q); Dcmf Rmoc = Quatf(mocap.q);