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ekf2: SensorRangeFinder delete unused faulty flag

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This commit is contained in:
Daniel Agar 2025-09-25 11:07:50 -04:00
parent 854765934b
commit 2347cb9e50
2 changed files with 1 additions and 4 deletions
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2
src/modules/ekf2/EKF/aid_sources/range_finder/sensor_range_finder.cpp
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@ -64,7 +64,7 @@ void SensorRangeFinder::updateValidity(uint64_t current_time_us)
{
updateDtDataLpf(current_time_us);
if (_is_faulty || isSampleOutOfDate(current_time_us) || !isDataContinuous()) {
if (isSampleOutOfDate(current_time_us) || !isDataContinuous()) {
_is_sample_valid = false;
_is_regularly_sending_data = false;
return;

3
src/modules/ekf2/EKF/aid_sources/range_finder/sensor_range_finder.hpp
View File

@ -120,8 +120,6 @@ public:
float getValidMinVal() const { return _rng_valid_min_val; }
float getValidMaxVal() const { return _rng_valid_max_val; }
void setFaulty(bool faulty = true) { _is_faulty = faulty; }
private:
void updateSensorToEarthRotation(const matrix::Dcmf &R_to_earth);
@ -141,7 +139,6 @@ private:
bool _is_sample_valid{}; ///< true if range finder sample retrieved from buffer is valid
bool _is_regularly_sending_data{false}; ///< true if the interval between two samples is less than the maximum expected interval
uint64_t _time_last_valid_us{}; ///< time the last range finder measurement was ready (uSec)
bool _is_faulty{false}; ///< the sensor should not be used anymore
/*
* Stuck check