fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-27 14:13:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: improve ring buffer sizing and dynamically allocate

Browse Source
This commit is contained in:
Daniel Agar
2022-01-19 09:04:53 -05:00
parent 36605bfff6
commit 92a5bbe97f
13 changed files with 356 additions and 247 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF/ekf.h
+2 -2
View File
@@ -546,8 +546,8 @@ private:
terrain_fusion_status_u _hagl_sensor_status{}; ///< Struct indicating type of sensor used to estimate height above ground
// height sensor status
bool _baro_hgt_faulty{false}; ///< true if valid baro data is unavailable for use
bool _gps_hgt_intermittent{false}; ///< true if gps height into the buffer is intermittent
bool _baro_hgt_faulty{true}; ///< true if valid baro data is unavailable for use
bool _gps_hgt_intermittent{true}; ///< true if gps height into the buffer is intermittent
// imu fault status
uint64_t _time_bad_vert_accel{0}; ///< last time a bad vertical accel was detected (uSec)