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EKF: clean up reset of fusion flags

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This commit is contained in:
Paul Riseborough
2017-11-21 11:18:09 +11:00
parent 8e30c2666d
commit 2a57fd858d
2 changed files with 3 additions and 2 deletions
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EKF/vel_pos_fusion.cpp
+3
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@@ -176,6 +176,7 @@ void Ekf::fuseVelPosHeight()
} else if (!vel_check_pass) {
_innov_check_fail_status.flags.reject_vel_NED = true;
}
_fuse_hor_vel = false;
// record the successful position fusion event
if (pos_check_pass && _fuse_pos) {
@@ -188,6 +189,7 @@ void Ekf::fuseVelPosHeight()
} else if (!pos_check_pass) {
_innov_check_fail_status.flags.reject_pos_NE = true;
}
_fuse_pos = false;
// record the successful height fusion event
if (innov_check_pass_map[5] && _fuse_height) {
@@ -196,6 +198,7 @@ void Ekf::fuseVelPosHeight()
} else if (!innov_check_pass_map[5]) {
_innov_check_fail_status.flags.reject_pos_D = true;
}
_fuse_height = false;
for (unsigned obs_index = 0; obs_index < 6; obs_index++) {
// skip fusion if not requested or checks have failed