fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-29 00:10:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Remove obsolete vision sample counter during initialization

Browse Source
This commit is contained in:
kamilritz
2019-12-11 14:48:24 +01:00
committed by Mathieu Bresciani
parent 181303488c
commit 6941777e17
2 changed files with 0 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/ekf.cpp
-20
View File
@@ -177,26 +177,6 @@ bool Ekf::initialiseFilter()
}
}
// Count the number of external vision measurements received
if (_ext_vision_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_ev_sample_delayed)) {
if ((_ev_counter == 0) && (_ev_sample_delayed.time_us != 0)) {
// initialise the counter
_ev_counter = 1;
// set the height fusion mode to use external vision data when we start getting valid data from the buffer
if (_primary_hgt_source == VDIST_SENSOR_EV) {
_control_status.flags.baro_hgt = false;
_control_status.flags.gps_hgt = false;
_control_status.flags.rng_hgt = false;
_control_status.flags.ev_hgt = true;
}
} else if ((_ev_counter != 0) && (_ev_sample_delayed.time_us != 0)) {
// increment the sample count
_ev_counter ++;
}
}
// set the default height source from the adjustable parameter
if (_hgt_counter == 0) {
_primary_hgt_source = _params.vdist_sensor_type;
EKF/ekf.h
-1
View File
@@ -466,7 +466,6 @@ private:
uint32_t _hgt_counter{0}; ///< number of height samples read during initialisation
float _rng_filt_state{0.0f}; ///< filtered height measurement (m)
uint32_t _mag_counter{0}; ///< number of magnetometer samples read during initialisation
uint32_t _ev_counter{0}; ///< number of external vision samples read during initialisation
uint64_t _time_last_mag{0}; ///< measurement time of last magnetomter sample (uSec)
AlphaFilterVector3f _mag_lpf; ///< filtered magnetometer measurement (Gauss)
Vector3f _delVel_sum; ///< summed delta velocity (m/sec)