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EKF: Remove use of vehicle arm status

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Use single externally set in-air status for all decisions
This commit is contained in:
Paul Riseborough
2016-05-10 10:23:08 +10:00
parent 3cdf56e57c
commit 481c624975
7 changed files with 21 additions and 62 deletions
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EKF/gps_checks.cpp
+3 -3
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@@ -162,7 +162,7 @@ bool Ekf::gps_is_good(struct gps_message *gps)
// Calculate the horizontal drift speed and fail if too high
// This check can only be used if the vehicle is stationary during alignment
if (!_control_status.flags.armed) {
if (!_control_status.flags.in_air) {
float drift_speed = sqrtf(_gpsDriftVelN * _gpsDriftVelN + _gpsDriftVelE * _gpsDriftVelE);
_gps_check_fail_status.flags.hdrift = (drift_speed > _params.req_hdrift);
@@ -186,7 +186,7 @@ bool Ekf::gps_is_good(struct gps_message *gps)
// Fail if the vertical drift speed is too high
// This check can only be used if the vehicle is stationary during alignment
if (!_control_status.flags.armed) {
if (!_control_status.flags.in_air) {
_gps_check_fail_status.flags.vdrift = (fabsf(_gps_drift_velD) > _params.req_vdrift);
} else {
@@ -195,7 +195,7 @@ bool Ekf::gps_is_good(struct gps_message *gps)
// Check the magnitude of the filtered horizontal GPS velocity
// This check can only be used if the vehicle is stationary during alignment
if (!_control_status.flags.armed) {
if (!_control_status.flags.in_air) {
vel_limit = 10.0f * _params.req_hdrift;
float gps_velN = fminf(fmaxf(gps->vel_ned[0], -vel_limit), vel_limit);
float gps_velE = fminf(fmaxf(gps->vel_ned[1], -vel_limit), vel_limit);