From 4b30de587f5da04997c5703516bd6fe8b1dac25d Mon Sep 17 00:00:00 2001 From: kamilritz Date: Tue, 17 Sep 2019 09:15:02 +0200 Subject: [PATCH] Make vel_pos innov gate variable name clearer --- EKF/common.h | 4 ++-- EKF/control.cpp | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/EKF/common.h b/EKF/common.h index 21266ec4b6..aa03949446 100644 --- a/EKF/common.h +++ b/EKF/common.h @@ -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) diff --git a/EKF/control.cpp b/EKF/control.cpp index 2ea5692b0f..a599ee7c7d 100644 --- a/EKF/control.cpp +++ b/EKF/control.cpp @@ -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)) {