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ekf2: don't use Vectors for height innovations (baro, rng, etc)

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Daniel Agar
2022-01-03 09:20:20 -05:00
parent eac92ec671
commit 35502c249d
6 changed files with 69 additions and 69 deletions
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src/modules/ekf2/EKF/estimator_interface.h
+2 -2
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@@ -338,8 +338,8 @@ protected:
Vector2f _ev_vel_test_ratio{}; // EV velocity innovation consistency check ratios
Vector2f _ev_pos_test_ratio{}; // EV position innovation consistency check ratios
Vector2f _aux_vel_test_ratio{}; // Auxiliary horizontal velocity innovation consistency check ratio
Vector2f _baro_hgt_test_ratio{}; // baro height innovation consistency check ratios
Vector2f _rng_hgt_test_ratio{}; // range finder height innovation consistency check ratios
float _baro_hgt_test_ratio{}; // baro height innovation consistency check ratios
float _rng_hgt_test_ratio{}; // range finder height innovation consistency check ratios
float _optflow_test_ratio{}; // Optical flow innovation consistency check ratio
float _tas_test_ratio{}; // tas innovation consistency check ratio
float _hagl_test_ratio{}; // height above terrain measurement innovation consistency check ratio