From 8125717bf5771d6ca32190ac7f95dcc2d78b20f6 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Mon, 23 May 2016 16:43:59 +1000 Subject: [PATCH] EKF: remove un-used airspeed health class variable Airspeed rejection now is captured in _sensor_fault_status --- EKF/airspeed_fusion.cpp | 2 -- EKF/estimator_interface.cpp | 1 - EKF/estimator_interface.h | 1 - 3 files changed, 4 deletions(-) diff --git a/EKF/airspeed_fusion.cpp b/EKF/airspeed_fusion.cpp index 18455bd650..cf5959a0a5 100644 --- a/EKF/airspeed_fusion.cpp +++ b/EKF/airspeed_fusion.cpp @@ -138,12 +138,10 @@ void Ekf::fuseAirspeed() // If the innovation consistency check fails then don't fuse the sample and indicate bad airspeed health if (_tas_test_ratio > 1.0f) { - _airspeed_healthy = false; _sensor_fault_status.flags.reject_airspeed = true; return; } else { - _airspeed_healthy = true; _sensor_fault_status.flags.reject_airspeed = false; } diff --git a/EKF/estimator_interface.cpp b/EKF/estimator_interface.cpp index 161e74c6a9..7427967785 100644 --- a/EKF/estimator_interface.cpp +++ b/EKF/estimator_interface.cpp @@ -57,7 +57,6 @@ EstimatorInterface::EstimatorInterface(): _gps_speed_valid(false), _gps_origin_eph(0.0f), _gps_origin_epv(0.0f), - _airspeed_healthy(false), _yaw_test_ratio(0.0f), _time_last_imu(0), _time_last_gps(0), diff --git a/EKF/estimator_interface.h b/EKF/estimator_interface.h index 8cc9baa5fb..1390bded36 100644 --- a/EKF/estimator_interface.h +++ b/EKF/estimator_interface.h @@ -259,7 +259,6 @@ protected: float _gps_origin_epv; // vertical position uncertainty of the GPS origin struct map_projection_reference_s _pos_ref; // Contains WGS-84 position latitude and longitude (radians) - bool _airspeed_healthy; // computed by airspeed innovation test float _yaw_test_ratio; // yaw innovation consistency check ratio float _mag_test_ratio[3]; // magnetometer XYZ innovation consistency check ratios float _vel_pos_test_ratio[6]; // velocity and position innovation consistency check ratios