From 24efc1b79c3172947eda55a8a424a837ef90443e Mon Sep 17 00:00:00 2001 From: kamilritz Date: Thu, 5 Dec 2019 08:17:16 +0100 Subject: [PATCH] Set not yet supported estimator_innovations fields to zero --- src/modules/ekf2/ekf2_main.cpp | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp index e3533cdba7..2b8e3dc450 100644 --- a/src/modules/ekf2/ekf2_main.cpp +++ b/src/modules/ekf2/ekf2_main.cpp @@ -1620,6 +1620,10 @@ void Ekf2::Run() _ekf.getAirspeedInnov(innovations.airspeed); _ekf.getBetaInnov(innovations.beta); _ekf.getHaglInnov(innovations.hagl); + // Not yet supported + innovations.aux_vvel = NAN; + innovations.fake_hpos[0] = innovations.fake_hpos[1] = innovations.fake_vpos = NAN; + innovations.fake_hvel[0] = innovations.fake_hvel[1] = innovations.fake_vvel = NAN; // publish estimator innovation variance data estimator_innovations_s innovation_var; @@ -1638,6 +1642,11 @@ void Ekf2::Run() _ekf.getAirspeedInnovVar(innovation_var.airspeed); _ekf.getBetaInnovVar(innovation_var.beta); _ekf.getHaglInnovVar(innovation_var.hagl); + // Not yet supported + innovation_var.aux_vvel = NAN; + innovation_var.fake_hpos[0] = innovation_var.fake_hpos[1] = innovation_var.fake_vpos = NAN; + innovation_var.fake_hvel[0] = innovation_var.fake_hvel[1] = innovation_var.fake_vvel = NAN; + // publish estimator innovation test ratio data estimator_innovations_s test_ratios; @@ -1656,6 +1665,10 @@ void Ekf2::Run() _ekf.getAirspeedInnovRatio(test_ratios.airspeed); _ekf.getBetaInnovRatio(test_ratios.beta); _ekf.getHaglInnovRatio(test_ratios.hagl); + // Not yet supported + test_ratios.aux_vvel = NAN; + test_ratios.fake_hpos[0] = test_ratios.fake_hpos[1] = test_ratios.fake_vpos = NAN; + test_ratios.fake_hvel[0] = test_ratios.fake_hvel[1] = test_ratios.fake_vvel = NAN; // calculate noise filtered velocity innovations which are used for pre-flight checking if (_vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_STANDBY) {