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EKF test ratio status return current height source test ratio

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This commit is contained in:
Nicolas MARTIN
2021-02-22 15:22:45 +01:00
committed by GitHub
parent 164e53bad3
commit 29943a2c09
1 changed files with 13 additions and 1 deletions
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EKF/ekf_helper.cpp
+13 -1
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@@ -926,7 +926,19 @@ void Ekf::get_innovation_test_status(uint16_t &status, float &mag, float &vel, f
pos = math::max(sqrtf(_gps_pos_test_ratio(0)), sqrtf(_ev_pos_test_ratio(0)));
// return the vertical position innovation test ratio
hgt = sqrtf(_gps_pos_test_ratio(0));
if (_control_status.flags.baro_hgt) {
hgt = sqrtf(_baro_hgt_test_ratio(1));
} else if (_control_status.flags.gps_hgt) {
hgt = sqrtf(_gps_pos_test_ratio(1));
} else if (_control_status.flags.rng_hgt) {
hgt = sqrtf(_rng_hgt_test_ratio(1));
} else if (_control_status.flags.ev_hgt) {
hgt = sqrtf(_ev_pos_test_ratio(1));
}
// return the airspeed fusion innovation test ratio
tas = sqrtf(_tas_test_ratio);
// return the terrain height innovation test ratio