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EKF: Non functional changes arising from review

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This commit is contained in:
Paul Riseborough
2021-02-09 19:55:32 +11:00
committed by Paul Riseborough
parent b87778e61d
commit 6f664abc4a
3 changed files with 6 additions and 6 deletions
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EKF/control.cpp
+2 -2
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@@ -898,7 +898,7 @@ void Ekf::checkVerticalAccelerationHealth()
// Don't use stale innovation data.
bool is_inertial_nav_falling = false;
bool are_vertical_pos_and_vel_independant = false;
if (isRecent(_vert_pos_fuse_time_us, 1000000)) {
if (isRecent(_vert_pos_fuse_attempt_time_us, 1000000)) {
if (isRecent(_vert_vel_fuse_time_us, 1000000)) {
// If vertical position and velocity come from independent sensors then we can
// trust them more if they disagree with the IMU, but need to check that they agree
@@ -919,7 +919,7 @@ void Ekf::checkVerticalAccelerationHealth()
_imu_sample_delayed.delta_vel_clipping[1] ||
_imu_sample_delayed.delta_vel_clipping[2];
if (is_clipping &&_clip_counter < clip_count_limit) {
_clip_counter++;
_clip_counter++;
} else if (_clip_counter > 0) {
_clip_counter--;
}