fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 17:13:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Add missing checks for flags.ev_vel

Browse Source
This commit is contained in:
kamilritz
2019-09-24 07:48:46 +10:00
committed by Paul Riseborough
parent e7d927c899
commit 4511b9ff5e
4 changed files with 23 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/ekf_helper.cpp
+8 -3
View File
@@ -53,7 +53,7 @@ bool Ekf::resetVelocity()
Vector3f vel_before_reset = _state.vel;
// reset EKF states
if (_control_status.flags.gps) {
if (_control_status.flags.gps && _gps_check_fail_status.value==0) {
// this reset is only called if we have new gps data at the fusion time horizon
_state.vel = _gps_sample_delayed.vel;
@@ -1074,6 +1074,11 @@ void Ekf::get_ekf_vel_accuracy(float *ekf_evh, float *ekf_evv)
vel_err_conservative = math::max(vel_err_conservative, sqrtf(sq(_vel_pos_innov[0]) + sq(_vel_pos_innov[1])));
}
if (_control_status.flags.ev_vel) {
// What is the right thing to do here
// vel_err_conservative = math::max(vel_err_conservative, sqrtf(sq(_vel_pos_innov[0]) + sq(_vel_pos_innov[1])));
}
hvel_err = math::max(hvel_err, vel_err_conservative);
}
@@ -1105,7 +1110,7 @@ void Ekf::get_ekf_ctrl_limits(float *vxy_max, float *vz_max, float *hagl_min, fl
bool relying_on_rangefinder = _control_status.flags.rng_hgt && !_params.range_aid;
bool relying_on_optical_flow = _control_status.flags.opt_flow && !(_control_status.flags.gps || _control_status.flags.ev_pos);
bool relying_on_optical_flow = _control_status.flags.opt_flow && !(_control_status.flags.gps || _control_status.flags.ev_pos || _control_status.flags.ev_vel);
// Do not require limiting by default
*vxy_max = NAN;
@@ -1192,7 +1197,7 @@ void Ekf::get_ekf_soln_status(uint16_t *status)
ekf_solution_status soln_status;
soln_status.flags.attitude = _control_status.flags.tilt_align && _control_status.flags.yaw_align && (_fault_status.value == 0);
soln_status.flags.velocity_horiz = (_control_status.flags.gps || _control_status.flags.ev_pos || _control_status.flags.opt_flow || (_control_status.flags.fuse_beta && _control_status.flags.fuse_aspd)) && (_fault_status.value == 0);
soln_status.flags.velocity_horiz = (_control_status.flags.gps || _control_status.flags.ev_pos|| _control_status.flags.ev_vel || _control_status.flags.opt_flow || (_control_status.flags.fuse_beta && _control_status.flags.fuse_aspd)) && (_fault_status.value == 0);
soln_status.flags.velocity_vert = (_control_status.flags.baro_hgt || _control_status.flags.ev_hgt || _control_status.flags.gps_hgt || _control_status.flags.rng_hgt) && (_fault_status.value == 0);
soln_status.flags.pos_horiz_rel = (_control_status.flags.gps || _control_status.flags.ev_pos || _control_status.flags.opt_flow) && (_fault_status.value == 0);
soln_status.flags.pos_horiz_abs = (_control_status.flags.gps || _control_status.flags.ev_pos) && (_fault_status.value == 0);