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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/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) {