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terrain estimator: fixed computation of filtered time since last range update

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- do not use hrt to compute delta time
- limit filter state
- do not use static variables

Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2017-02-22 14:12:05 +01:00
parent 6561edb9a5
commit 6480fcc3d5
3 changed files with 13 additions and 11 deletions
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EKF/ekf.cpp
+3 -1
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@@ -62,6 +62,7 @@ const float Ekf::_k_earth_rate = 0.000072921f;
const float Ekf::_gravity_mss = 9.80665f;
Ekf::Ekf():
_dt_update(0.01f),
_filter_initialised(false),
_earth_rate_initialised(false),
_fuse_height(false),
@@ -115,6 +116,8 @@ Ekf::Ekf():
_hagl_innov_var(0.0f),
_time_last_hagl_fuse(0),
_terrain_initialised(false),
_range_data_continuous(false),
_dt_last_range_update_filt_us(0.0f),
_baro_hgt_faulty(false),
_gps_hgt_faulty(false),
_rng_hgt_faulty(false),
@@ -183,7 +186,6 @@ bool Ekf::init(uint64_t timestamp)
_terrain_initialised = false;
_sin_tilt_rng = sinf(_params.rng_sens_pitch);
_cos_tilt_rng = cosf(_params.rng_sens_pitch);
_range_data_continuous = false;
_control_status.value = 0;
_control_status_prev.value = 0;