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Remove uninformative comments

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This commit is contained in:
kamilritz
2020-06-21 13:45:15 +02:00
committed by Mathieu Bresciani
parent 4a69b41015
commit 48f0eb16da
7 changed files with 0 additions and 44 deletions
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EKF/airspeed_fusion.cpp
-5
View File
@@ -200,24 +200,19 @@ void Ekf::fuseAirspeed()
for (int i = 0; i < _k_num_states; i++) {
if (P(i,i) < KHP(i,i)) {
// zero rows and columns
P.uncorrelateCovarianceSetVariance<1>(i, 0.0f);
//flag as unhealthy
healthy = false;
// update individual measurement health status
_fault_status.flags.bad_airspeed = true;
}
}
// only apply covariance and state corrections if healthy
if (healthy) {
// apply the covariance corrections
P -= KHP;
// correct the covariance matrix for gross errors
fixCovarianceErrors(true);
// apply the state corrections
EKF/drag_fusion.cpp
-10
View File
@@ -274,28 +274,18 @@ void Ekf::fuseDrag()
// the covariance matrix is unhealthy and must be corrected
bool healthy = true;
//_fault_status.flags.bad_sideslip = false;
for (int i = 0; i < _k_num_states; i++) {
if (P(i,i) < KHP(i,i)) {
// zero rows and columns
P.uncorrelateCovarianceSetVariance<1>(i, 0.0f);
//flag as unhealthy
healthy = false;
// update individual measurement health status
//_fault_status.flags.bad_sideslip = true;
}
}
// only apply covariance and state corrections if healthy
if (healthy) {
// apply the covariance corrections
P -= KHP;
// correct the covariance matrix for gross errors
fixCovarianceErrors(true);
// apply the state corrections
EKF/gps_yaw_fusion.cpp
-5
View File
@@ -245,25 +245,20 @@ void Ekf::fuseGpsAntYaw()
for (int i = 0; i < _k_num_states; i++) {
if (P(i,i) < KHP(i,i)) {
// zero rows and columns
P.uncorrelateCovarianceSetVariance<1>(i, 0.0f);
//flag as unhealthy
healthy = false;
// update individual measurement health status
_fault_status.flags.bad_hdg = true;
}
}
// only apply covariance and state corrections if healthy
if (healthy) {
_time_last_gps_yaw_fuse = _time_last_imu;
// apply the covariance corrections
P -= KHP;
// correct the covariance matrix for gross errors
fixCovarianceErrors(true);
// apply the state corrections
EKF/mag_fusion.cpp
-12
View File
@@ -413,12 +413,10 @@ void Ekf::fuseMag()
}
}
// only apply covariance and state corrections if healthy
if (healthy) {
// apply the covariance corrections
P -= KHP;
// correct the covariance matrix for gross errors
fixCovarianceErrors(true);
// apply the state corrections
@@ -733,24 +731,19 @@ void Ekf::updateQuaternion(const float innovation, const float variance, const f
for (int i = 0; i < _k_num_states; i++) {
if (P(i,i) < KHP(i,i)) {
// zero rows and columns
P.uncorrelateCovarianceSetVariance<1>(i, 0.0f);
//flag as unhealthy
healthy = false;
// update individual measurement health status
_fault_status.flags.bad_hdg = true;
}
}
// only apply covariance and state corrections if healthy
if (healthy) {
// apply the covariance corrections
P -= KHP;
// correct the covariance matrix for gross errors
fixCovarianceErrors(true);
// apply the state corrections
@@ -1022,24 +1015,19 @@ void Ekf::fuseDeclination(float decl_sigma)
_fault_status.flags.bad_mag_decl = false;
for (int i = 0; i < _k_num_states; i++) {
if (P(i,i) < KHP(i,i)) {
// zero rows and columns
P.uncorrelateCovarianceSetVariance<1>(i, 0.0f);
//flag as unhealthy
healthy = false;
// update individual measurement health status
_fault_status.flags.bad_mag_decl = true;
}
}
// only apply covariance and state corrections if healthy
if (healthy) {
// apply the covariance corrections
P -= KHP;
// correct the covariance matrix for gross errors
fixCovarianceErrors(true);
// apply the state corrections
EKF/optflow_fusion.cpp
-5
View File
@@ -475,13 +475,10 @@ void Ekf::fuseOptFlow()
for (int i = 0; i < _k_num_states; i++) {
if (P(i,i) < KHP(i,i)) {
// zero rows and columns
P.uncorrelateCovarianceSetVariance<1>(i, 0.0f);
//flag as unhealthy
healthy = false;
// update individual measurement health status
if (obs_index == 0) {
_fault_status.flags.bad_optflow_X = true;
@@ -491,12 +488,10 @@ void Ekf::fuseOptFlow()
}
}
// only apply covariance and state corrections if healthy
if (healthy) {
// apply the covariance corrections
P -= KHP;
// correct the covariance matrix for gross errors
fixCovarianceErrors(true);
// apply the state corrections
EKF/sideslip_fusion.cpp
-5
View File
@@ -249,23 +249,18 @@ void Ekf::fuseSideslip()
for (int i = 0; i < _k_num_states; i++) {
if (P(i,i) < KHP(i,i)) {
// zero rows and columns
P.uncorrelateCovarianceSetVariance<1>(i, 0.0f);
//flag as unhealthy
healthy = false;
// update individual measurement health status
_fault_status.flags.bad_sideslip = true;
}
}
// only apply covariance and state corrections if healthy
if (healthy) {
// apply the covariance corrections
P -= KHP;
// correct the covariance matrix for gross errors
fixCovarianceErrors(true);
// apply the state corrections
EKF/vel_pos_fusion.cpp
-2
View File
@@ -187,12 +187,10 @@ void Ekf::fuseVelPosHeight(const float innov, const float innov_var, const int o
}
}
// only apply covariance and state corrections if healthy
if (healthy) {
// apply the covariance corrections
P -= KHP;
// correct the covariance matrix for gross errors
fixCovarianceErrors(true);
// apply the state corrections