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EKF: replace reset event times with event counters

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Using a 64bit integer was unnecessary given it was only being used to detect a new reset event.
This commit is contained in:
Paul Riseborough
2016-06-01 17:13:00 +10:00
parent 70f76e1a6c
commit 6a55d908c5
4 changed files with 33 additions and 33 deletions
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EKF/ekf_helper.cpp
+6 -6
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@@ -88,8 +88,8 @@ bool Ekf::resetVelocity()
_state_reset_status.velNE_change(0) = velocity_change(0);
_state_reset_status.velNE_change(1) = velocity_change(1);
_state_reset_status.velD_change = velocity_change(2);
_state_reset_status.velNE_time_us = _imu_sample_delayed.time_us;
_state_reset_status.velD_time_us = _imu_sample_delayed.time_us;
_state_reset_status.velNE_counter++;
_state_reset_status.velD_counter++;
}
@@ -162,7 +162,7 @@ bool Ekf::resetPosition()
// capture the reset event
_state_reset_status.posNE_change = posNE_change;
_state_reset_status.posNE_time_us = _imu_sample_delayed.time_us;
_state_reset_status.posNE_counter++;
}
@@ -290,12 +290,12 @@ void Ekf::resetHeight()
// store the reset amount and time to be published
if (vert_pos_reset) {
_state_reset_status.posD_change = _state.pos(2) - old_vert_pos;
_state_reset_status.posD_time_us = _imu_sample_delayed.time_us;
_state_reset_status.posD_counter++;
}
if (vert_vel_reset) {
_state_reset_status.velD_change = _state.vel(2) - old_vert_vel;
_state_reset_status.velD_time_us = _imu_sample_delayed.time_us;
_state_reset_status.velD_counter++;
}
// add the reset amount to the output observer states
@@ -497,7 +497,7 @@ bool Ekf::resetMagHeading(Vector3f &mag_init)
}
// capture the reset event
_state_reset_status.quat_time_us = _imu_sample_delayed.time_us;
_state_reset_status.quat_counter++;
return true;
}