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Make vel_pos innov gate variable name clearer

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This commit is contained in:
kamilritz
2019-09-17 09:15:02 +02:00
committed by Paul Riseborough
parent 4237d7ccd7
commit 4b30de587f
2 changed files with 4 additions and 4 deletions
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EKF/common.h
+2 -2
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@@ -260,8 +260,8 @@ struct parameters {
float pos_noaid_noise{10.0f}; ///< observation noise for non-aiding position fusion (m)
float baro_noise{2.0f}; ///< observation noise for barometric height fusion (m)
float baro_innov_gate{5.0f}; ///< barometric and GPS height innovation consistency gate size (STD)
float posNE_innov_gate{5.0f}; ///< GPS horizontal position innovation consistency gate size (STD)
float vel_innov_gate{5.0f}; ///< GPS velocity innovation consistency gate size (STD)
float gps_pos_innov_gate{5.0f}; ///< GPS horizontal position innovation consistency gate size (STD)
float gps_vel_innov_gate{5.0f}; ///< GPS velocity innovation consistency gate size (STD)
float gnd_effect_deadzone{5.0f}; ///< Size of deadzone applied to negative baro innovations when ground effect compensation is active (m)
float gnd_effect_max_hgt{0.5f}; ///< Height above ground at which baro ground effect becomes insignificant (m)
EKF/control.cpp
+2 -2
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@@ -736,8 +736,8 @@ void Ekf::controlGpsFusion()
_vel_pos_innov[4] = _state.pos(1) - _gps_sample_delayed.pos(1);
// set innovation gate size
_posInnovGateNE = fmaxf(_params.posNE_innov_gate, 1.0f);
_hvelInnovGate = fmaxf(_params.vel_innov_gate, 1.0f);
_posInnovGateNE = fmaxf(_params.gps_pos_innov_gate, 1.0f);
_hvelInnovGate = _vvelInnovGate = fmaxf(_params.gps_vel_innov_gate, 1.0f);
}
} else if (_control_status.flags.gps && (_imu_sample_delayed.time_us - _gps_sample_delayed.time_us > (uint64_t)10e6)) {