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Reduce stored strings, to save flash space (#815)

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kritz
2020-05-13 08:09:26 +02:00
committed by GitHub
parent 98801ad17b
commit 24f2e60b7e
8 changed files with 48 additions and 29 deletions
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EKF/sideslip_fusion.cpp
+4 -2
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@@ -129,16 +129,18 @@ void Ekf::fuseSideslip()
_fault_status.flags.bad_sideslip = true;
// if we are getting aiding from other sources, warn and reset the wind states and covariances only
const char* action_string = nullptr;
if (update_wind_only) {
resetWindStates();
resetWindCovariance();
ECL_ERR_TIMESTAMPED("synthetic sideslip fusion badly conditioned - wind covariance reset");
action_string = "wind";
} else {
initialiseCovariance();
_state.wind_vel.setZero();
ECL_ERR_TIMESTAMPED("synthetic sideslip fusion badly conditioned - full covariance reset");
action_string = "full";
}
ECL_ERR("sideslip badly conditioned - %s covariance reset", action_string);
return;
}