fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-18 05:43:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

EKF: capture innovation checks and reset events in separate variables

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
EKF/optflow_fusion.cpp
+2 -2
View File
@@ -407,10 +407,10 @@ void Ekf::fuseOptFlow()
for (uint8_t obs_index = 0; obs_index <= 1; obs_index++) {
if (optflow_test_ratio[obs_index] > 1.0f) {
flow_fail = true;
_sensor_fault_status.value |= (1 << (obs_index + 9));
_innov_check_fail_status.value |= (1 << (obs_index + 9));
} else {
_sensor_fault_status.value &= ~(1 << (obs_index + 9));
_innov_check_fail_status.value &= ~(1 << (obs_index + 9));
}
}