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ekf2: remove legacy accel z bias checks (#23341)

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Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
This commit is contained in:
Daniel Agar
2024-08-29 11:51:27 -04:00
committed by GitHub
parent f8188f0981
commit 5b0014cb06
7 changed files with 1 additions and 111 deletions
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src/modules/ekf2/EKF2.cpp
-2
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@@ -1937,7 +1937,6 @@ void EKF2::PublishStatusFlags(const hrt_abstime &timestamp)
status_flags.fs_bad_sideslip = _ekf.fault_status_flags().bad_sideslip;
status_flags.fs_bad_optflow_x = _ekf.fault_status_flags().bad_optflow_X;
status_flags.fs_bad_optflow_y = _ekf.fault_status_flags().bad_optflow_Y;
status_flags.fs_bad_acc_bias = _ekf.fault_status_flags().bad_acc_bias;
status_flags.fs_bad_acc_vertical = _ekf.fault_status_flags().bad_acc_vertical;
status_flags.fs_bad_acc_clipping = _ekf.fault_status_flags().bad_acc_clipping;
@@ -2666,7 +2665,6 @@ void EKF2::UpdateAccelCalibration(const hrt_abstime &timestamp)
const bool bias_valid = (_param_ekf2_imu_ctrl.get() & static_cast<int32_t>(ImuCtrl::AccelBias))
&& _ekf.control_status_flags().tilt_align
&& (_ekf.fault_status().value == 0)
&& !_ekf.fault_status_flags().bad_acc_bias
&& !_ekf.fault_status_flags().bad_acc_clipping
&& !_ekf.fault_status_flags().bad_acc_vertical;