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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/estimator_interface.h
+2 -1
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@@ -259,10 +259,12 @@ protected:
float _gps_origin_epv; // vertical position uncertainty of the GPS origin
struct map_projection_reference_s _pos_ref; // Contains WGS-84 position latitude and longitude (radians)
// innovation consistency check monitoring ratios
float _yaw_test_ratio; // yaw innovation consistency check ratio
float _mag_test_ratio[3]; // magnetometer XYZ innovation consistency check ratios
float _vel_pos_test_ratio[6]; // velocity and position innovation consistency check ratios
float _tas_test_ratio; // tas innovation consistency check ratio
innovation_fault_status_u _innov_check_fail_status;
// data buffer instances
RingBuffer<imuSample> _imu_buffer;
@@ -285,7 +287,6 @@ protected:
uint64_t _time_last_optflow;
fault_status_u _fault_status;
sensor_fault_status_u _sensor_fault_status;
// allocate data buffers and intialise interface variables
bool initialise_interface(uint64_t timestamp);