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EKF: Remove flag prefix

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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
This commit is contained in:
CarlOlsson
2019-01-13 23:48:46 +01:00
committed by Lorenz Meier
parent d223680197
commit 490888285d
3 changed files with 18 additions and 18 deletions
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EKF/ekf_helper.cpp
+4 -4
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@@ -429,7 +429,7 @@ bool Ekf::realignYawGPS()
ECL_WARN("EKF bad yaw corrected using GPS course");
// declare the magnetomer as failed if a bad yaw has occurred more than once
if (_control_status.flags.flt_mag_align_complete && (_num_bad_flight_yaw_events >= 2) && !_control_status.flags.mag_fault) {
if (_control_status.flags.mag_align_complete && (_num_bad_flight_yaw_events >= 2) && !_control_status.flags.mag_fault) {
ECL_WARN("EKF stopping magnetometer use");
_control_status.flags.mag_fault = true;
}
@@ -448,11 +448,11 @@ bool Ekf::realignYawGPS()
Eulerf euler321(_state.quat_nominal);
// apply yaw correction
if (!_control_status.flags.flt_mag_align_complete) {
if (!_control_status.flags.mag_align_complete) {
// This is our first flight aligment so we can assume that the recent change in velocity has occurred due to a
// forward direction takeoff or launch and therefore the inertial and GPS ground course discrepancy is due to yaw error
euler321(2) += courseYawError;
_control_status.flags.flt_mag_align_complete = true;
_control_status.flags.mag_align_complete = true;
} else if (_control_status.flags.wind) {
// we have previously aligned yaw in-flight and have wind estimates so set the yaw such that the vehicle nose is
@@ -765,7 +765,7 @@ bool Ekf::resetMagHeading(Vector3f &mag_init)
void Ekf::calcMagDeclination()
{
// set source of magnetic declination for internal use
if (_control_status.flags.flt_mag_align_complete) {
if (_control_status.flags.mag_align_complete) {
// Use value consistent with earth field state
_mag_declination = atan2f(_state.mag_I(1), _state.mag_I(0));