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EKF: remove un-used magnetometer health class variable

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replaced by _sensor_health_status
This commit is contained in:
Paul Riseborough
2016-06-01 17:13:00 +10:00
parent cf489f4248
commit 388e500180
4 changed files with 5 additions and 11 deletions
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EKF/mag_fusion.cpp
+3 -6
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@@ -176,20 +176,19 @@ void Ekf::fuseMag()
// Perform an innovation consistency check on each measurement and if one axis fails
// do not fuse any data from the sensor because the most common errors affect multiple axes.
_mag_healthy = true;
bool mag_fail = false;
for (uint8_t index = 0; index <= 2; index++) {
_mag_test_ratio[index] = sq(_mag_innov[index]) / (sq(math::max(_params.mag_innov_gate, 1.0f)) * _mag_innov_var[index]);
if (_mag_test_ratio[index] > 1.0f) {
_mag_healthy = false;
mag_fail = false;
_sensor_fault_status.value |= (1 << (index + 3));
} else {
_sensor_fault_status.value &= !(1 << (index + 3));
}
}
if (!_mag_healthy) {
if (mag_fail) {
return;
}
@@ -606,7 +605,6 @@ void Ekf::fuseHeading()
// set the magnetometer unhealthy if the test fails
if (_yaw_test_ratio > 1.0f) {
_mag_healthy = false;
_sensor_fault_status.flags.reject_yaw = true;
// if we are in air we don't want to fuse the measurement
@@ -622,7 +620,6 @@ void Ekf::fuseHeading()
}
} else {
_mag_healthy = true;
_sensor_fault_status.flags.reject_yaw = false;
}