fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 18:43:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Remove uninformative comments

Browse Source
This commit is contained in:
kamilritz
2020-06-26 08:26:26 +02:00
committed by Mathieu Bresciani
parent 4a69b41015
commit 48f0eb16da
7 changed files with 0 additions and 44 deletions
Download Patch File Download Diff File Expand all files Collapse all files
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