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Retry fusion sooner on failures

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This commit is contained in:
Lorenz Meier 2014-06-24 20:47:22 +02:00
parent 11fa104a2a
commit 32319722a6
1 changed files with 4 additions and 3 deletions
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7
src/modules/ekf_att_pos_estimator/estimator_23states.cpp
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@ -925,9 +925,9 @@ void AttPosEKF::FuseVelposNED()
{
// declare variables used by fault isolation logic
uint32_t gpsRetryTime = 30000; // time in msec before GPS fusion will be retried following innovation consistency failure
uint32_t gpsRetryTimeNoTAS = 5000; // retry time if no TAS measurement available
uint32_t hgtRetryTime = 5000; // height measurement retry time
uint32_t gpsRetryTime = 3000; // time in msec before GPS fusion will be retried following innovation consistency failure
uint32_t gpsRetryTimeNoTAS = 500; // retry time if no TAS measurement available
uint32_t hgtRetryTime = 500; // height measurement retry time
uint32_t horizRetryTime;
// declare variables used to check measurement errors
@ -2587,6 +2587,7 @@ void AttPosEKF::GetFilterState(struct ekf_status_report *state)
for (unsigned i = 0; i < n_states; i++) {
current_ekf_state.states[i] = states[i];
}
current_ekf_state.n_states = n_states;
memcpy(state, &current_ekf_state, sizeof(*state));
}