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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/mag_fusion.cpp
+4 -4
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@@ -182,9 +182,9 @@ void Ekf::fuseMag()
if (_mag_test_ratio[index] > 1.0f) {
mag_fail = false;
_sensor_fault_status.value |= (1 << (index + 3));
_innov_check_fail_status.value |= (1 << (index + 3));
} else {
_sensor_fault_status.value &= !(1 << (index + 3));
_innov_check_fail_status.value &= !(1 << (index + 3));
}
}
@@ -605,7 +605,7 @@ void Ekf::fuseHeading()
// set the magnetometer unhealthy if the test fails
if (_yaw_test_ratio > 1.0f) {
_sensor_fault_status.flags.reject_yaw = true;
_innov_check_fail_status.flags.reject_yaw = true;
// if we are in air we don't want to fuse the measurement
// we allow to use it when on the ground because the large innovation could be caused
@@ -620,7 +620,7 @@ void Ekf::fuseHeading()
}
} else {
_sensor_fault_status.flags.reject_yaw = false;
_innov_check_fail_status.flags.reject_yaw = false;
}
// apply covariance correction via P_new = (I -K*H)*P