fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-16 19:07:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

further cleanup

Browse Source 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2025-02-10 10:17:42 +03:00
committed by Marco Hauswirth
parent 2c4d38e303
commit 8cedef2dc4
1 changed files with 2 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF/aid_sources/range_finder/sensor_range_finder.cpp
+2 -5
View File
@@ -78,9 +78,7 @@ void SensorRangeFinder::updateValidity(uint64_t current_time_us)
_time_bad_quality_us = _sample.quality == 0 ? current_time_us : _time_bad_quality_us;
const bool quality_ok = isQualityOk(current_time_us);
if (!quality_ok || !isTiltOk() || !isDataInRange()) {
if (!isQualityOk(current_time_us) || !isTiltOk() || !isDataInRange()) {
return;
}
@@ -99,8 +97,7 @@ void SensorRangeFinder::updateValidity(uint64_t current_time_us)
bool SensorRangeFinder::isQualityOk(uint64_t current_time_us) const
{
const bool bad_quality = current_time_us - _time_bad_quality_us > _quality_hyst_us;
return bad_quality;
return current_time_us - _time_bad_quality_us > _quality_hyst_us;
}
void SensorRangeFinder::updateDtDataLpf(uint64_t current_time_us)