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ekf2: ekf_helper.cpp remove duplicate method comments (comment on declaration only, not definition)

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This commit is contained in:
Daniel Agar 2024-05-02 14:32:18 -04:00
parent c1fc893cca
commit 224d6f2fa7
2 changed files with 6 additions and 17 deletions
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8
src/modules/ekf2/EKF/ekf.h
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@ -265,7 +265,11 @@ public:
// get the 1-sigma horizontal and vertical velocity uncertainty
void get_ekf_vel_accuracy(float *ekf_evh, float *ekf_evv) const;
// get the vehicle control limits required by the estimator to keep within sensor limitations
// Returns the following vehicle control limits required by the estimator to keep within sensor limitations.
// vxy_max : Maximum ground relative horizontal speed (meters/sec). NaN when limiting is not needed.
// vz_max : Maximum ground relative vertical speed (meters/sec). NaN when limiting is not needed.
// hagl_min : Minimum height above ground (meters). NaN when limiting is not needed.
// hagl_max : Maximum height above ground (meters). NaN when limiting is not needed.
void get_ekf_ctrl_limits(float *vxy_max, float *vz_max, float *hagl_min, float *hagl_max) const;
void resetGyroBias();
@ -387,7 +391,7 @@ public:
void get_innovation_test_status(uint16_t &status, float &mag, float &vel, float &pos, float &hgt, float &tas,
float &hagl, float &beta) const;
// return a bitmask integer that describes which state estimates can be used for flight control
// return a bitmask integer that describes which state estimates are valid
void get_ekf_soln_status(uint16_t *status) const;
HeightSensor getHeightSensorRef() const { return _height_sensor_ref; }

15
src/modules/ekf2/EKF/ekf_helper.cpp
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@ -56,7 +56,6 @@ bool Ekf::isHeightResetRequired() const
return (continuous_bad_accel_hgt || hgt_fusion_timeout);
}
// calculate the earth rotation vector
Vector3f Ekf::calcEarthRateNED(float lat_rad) const
{
return Vector3f(CONSTANTS_EARTH_SPIN_RATE * cosf(lat_rad),
@ -199,7 +198,6 @@ void Ekf::get_ekf_lpos_accuracy(float *ekf_eph, float *ekf_epv) const
*ekf_epv = sqrtf(P(State::pos.idx + 2, State::pos.idx + 2));
}
// get the 1-sigma horizontal and vertical velocity uncertainty
void Ekf::get_ekf_vel_accuracy(float *ekf_evh, float *ekf_evv) const
{
float hvel_err = sqrtf(P.trace<2>(State::vel.idx));
@ -240,13 +238,6 @@ void Ekf::get_ekf_vel_accuracy(float *ekf_evh, float *ekf_evv) const
*ekf_evv = sqrtf(P(State::vel.idx + 2, State::vel.idx + 2));
}
/*
Returns the following vehicle control limits required by the estimator to keep within sensor limitations.
vxy_max : Maximum ground relative horizontal speed (meters/sec). NaN when limiting is not needed.
vz_max : Maximum ground relative vertical speed (meters/sec). NaN when limiting is not needed.
hagl_min : Minimum height above ground (meters). NaN when limiting is not needed.
hagl_max : Maximum height above ground (meters). NaN when limiting is not needed.
*/
void Ekf::get_ekf_ctrl_limits(float *vxy_max, float *vz_max, float *hagl_min, float *hagl_max) const
{
// Do not require limiting by default
@ -310,11 +301,6 @@ void Ekf::resetAccelBias()
resetAccelBiasCov();
}
// get EKF innovation consistency check status information comprising of:
// status - a bitmask integer containing the pass/fail status for each EKF measurement innovation consistency check
// Innovation Test Ratios - these are the ratio of the innovation to the acceptance threshold.
// A value > 1 indicates that the sensor measurement has exceeded the maximum acceptable level and has been rejected by the EKF
// Where a measurement type is a vector quantity, eg magnetometer, GPS position, etc, the maximum value is returned.
void Ekf::get_innovation_test_status(uint16_t &status, float &mag, float &vel, float &pos, float &hgt, float &tas,
float &hagl, float &beta) const
{
@ -442,7 +428,6 @@ void Ekf::get_innovation_test_status(uint16_t &status, float &mag, float &vel, f
#endif // CONFIG_EKF2_SIDESLIP
}
// return a bitmask integer that describes which state estimates are valid
void Ekf::get_ekf_soln_status(uint16_t *status) const
{
ekf_solution_status_u soln_status{};