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EKF: capture innovation checks and reset events in separate variables

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rename the innovation check status class variable and remove the reset flags from it.
This commit is contained in:
Paul Riseborough
2016-06-01 17:13:00 +10:00
parent 79705da7e6
commit 65da9173b9
8 changed files with 22 additions and 26 deletions
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EKF/common.h
+3 -8
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@@ -388,8 +388,8 @@ union fault_status_u {
};
// define structure used to communicate innovation test failures and state resets
union sensor_fault_status_u {
// define structure used to communicate innovation test failures
union innovation_fault_status_u {
struct {
bool reject_vel_NED: 1; // 0 - true if velocity observations have been rejected
bool reject_pos_NE: 1; // 1 - true if horizontal position observations have been rejected
@@ -402,13 +402,8 @@ union sensor_fault_status_u {
bool reject_hagl: 1; // 8 - true if the height above ground observation has been rejected
bool reject_optflow_X: 1; // 9 - true if the X optical flow observation has been rejected
bool reject_optflow_Y: 1; // 10 - true if the Y optical flow observation has been rejected
bool reset_pos_NE: 1; // 11 - true if the horizontal positoin has been reset
bool reset_pos_D: 1; // 12 - true if the vertical position has been reset
bool reset_vel_NE: 1; // 13 - true if the horizontal velocity has been reset
bool reset_vel_D: 1; // 14 - true if the vertical velocity has been reset
bool reset_yaw: 1; // 15 - true if teh yaw angle has been reset
} flags;
uint32_t value;
uint16_t value;
};