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EKF: change rangeSample quality to int8_t

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Nico van Duijn
2019-09-12 08:04:12 +02:00
committed by Paul Riseborough
parent a12186c285
commit 640e41cba7
3 changed files with 4 additions and 4 deletions
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EKF/common.h
+2 -2
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@@ -131,9 +131,9 @@ struct baroSample {
};
struct rangeSample {
float rng; ///< range (distance to ground) measurement (m)
float rng; ///< range (distance to ground) measurement (m)
uint64_t time_us; ///< timestamp of the measurement (uSec)
uint8_t quality; ///< quality indicator between 0 and 255
int8_t quality; ///< Signal quality in percent (0...100%), where 0 = invalid signal, 100 = perfect signal, and -1 = unknown signal quality.
};
struct airspeedSample {
EKF/estimator_interface.cpp
+1 -1
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@@ -314,7 +314,7 @@ void EstimatorInterface::setAirspeedData(uint64_t time_usec, float true_airspeed
}
}
void EstimatorInterface::setRangeData(uint64_t time_usec, float data, uint8_t quality)
void EstimatorInterface::setRangeData(uint64_t time_usec, float data, int8_t quality)
{
if (!_initialised || _range_buffer_fail) {
return;
EKF/estimator_interface.h
+1 -1
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@@ -191,7 +191,7 @@ public:
void setAirspeedData(uint64_t time_usec, float true_airspeed, float eas2tas);
// set range data
void setRangeData(uint64_t time_usec, float data, uint8_t quality);
void setRangeData(uint64_t time_usec, float data, int8_t quality);
// set optical flow data
// if optical flow sensor gyro delta angles are not available, set gyroXYZ vector fields to NaN and the EKF will use its internal delta angle data instead