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Rename yaw_use_inhibit -> is_yaw_fusion_inhibited

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kamilritz
2020-07-16 18:25:06 +02:00
committed by Mathieu Bresciani
parent 4cb2d1c645
commit 796afd5f98
4 changed files with 8 additions and 8 deletions
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EKF/ekf.h
+1 -1
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@@ -380,7 +380,7 @@ private:
bool _mag_decl_cov_reset{false}; ///< true after the fuseDeclination() function has been used to modify the earth field covariances after a magnetic field reset event.
bool _synthetic_mag_z_active{false}; ///< true if we are generating synthetic magnetometer Z measurements
bool _yaw_use_inhibit{false}; ///< true when yaw sensor use is being inhibited
bool _is_yaw_fusion_inhibited{false}; ///< true when yaw sensor use is being inhibited
SquareMatrix24f P; ///< state covariance matrix
EKF/ekf_helper.cpp
+1 -1
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@@ -518,7 +518,7 @@ bool Ekf::resetMagHeading(const Vector3f &mag_init, bool increase_yaw_var, bool
yaw_new_variance = sq(fmaxf(_params.mag_heading_noise, 1.0e-2f));
}
} else if (_params.mag_fusion_type == MAG_FUSE_TYPE_INDOOR && _yaw_use_inhibit) {
} else if (_params.mag_fusion_type == MAG_FUSE_TYPE_INDOOR && _is_yaw_fusion_inhibited) {
// we are operating temporarily without knowing the earth frame yaw angle
return true;
EKF/mag_control.cpp
+4 -4
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@@ -52,7 +52,7 @@ void Ekf::controlMagFusion()
if (_params.mag_fusion_type == MAG_FUSE_TYPE_NONE) {
if (noOtherYawAidingThanMag())
{
_yaw_use_inhibit = true;
_is_yaw_fusion_inhibited = true;
fuseHeading();
}
return;
@@ -156,7 +156,7 @@ void Ekf::runOnGroundYawReset()
bool Ekf::isYawResetAuthorized() const
{
return !_yaw_use_inhibit;
return !_is_yaw_fusion_inhibited;
}
bool Ekf::canResetMagHeading() const
@@ -268,8 +268,8 @@ void Ekf::checkMagDeclRequired()
void Ekf::checkMagInhibition()
{
_yaw_use_inhibit = shouldInhibitMag();
if (!_yaw_use_inhibit) {
_is_yaw_fusion_inhibited = shouldInhibitMag();
if (!_is_yaw_fusion_inhibited) {
_mag_use_not_inhibit_us = _imu_sample_delayed.time_us;
}
EKF/mag_fusion.cpp
+2 -2
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@@ -784,7 +784,7 @@ void Ekf::fuseHeading()
// handle special case where yaw measurement is unavailable
bool fuse_zero_innov = false;
if (_yaw_use_inhibit) {
if (_is_yaw_fusion_inhibited) {
// The yaw measurement cannot be trusted but we need to fuse something to prevent a badly
// conditioned covariance matrix developing over time.
if (!_control_status.flags.vehicle_at_rest) {
@@ -851,7 +851,7 @@ void Ekf::fuseHeading()
// handle special case where yaw measurement is unavailable
bool fuse_zero_innov = false;
if (_yaw_use_inhibit) {
if (_is_yaw_fusion_inhibited) {
// The yaw measurement cannot be trusted but we need to fuse something to prevent a badly
// conditioned covariance matrix developing over time.
if (!_control_status.flags.vehicle_at_rest) {