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Made fault tolerances adjustable.

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This commit is contained in:
James Goppert
2013-01-15 13:12:00 -05:00
parent edf0a6bae7
commit 9cf3d51aec
3 changed files with 8 additions and 2 deletions
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apps/examples/kalman_demo/KalmanNav.cpp
+4 -2
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@@ -98,6 +98,8 @@ KalmanNav::KalmanNav(SuperBlock *parent, const char *name) :
_rAccel(this, "R_ACCEL"),
_magDip(this, "MAG_DIP"),
_magDec(this, "MAG_DEC"),
_faultPos(this, "FAULT_POS"),
_faultAtt(this, "FAULT_ATT"),
_positionInitialized(false)
{
using namespace math;
@@ -601,7 +603,7 @@ void KalmanNav::correctAtt()
// fault detection
float beta = y.dot(S.inverse() * y);
if (beta > 1000.0f) {
if (beta > _faultAtt.get()) {
printf("fault in attitude: beta = %8.4f\n", (double)beta);
printf("y:\n"); y.print();
}
@@ -679,7 +681,7 @@ void KalmanNav::correctPos()
// fault detetcion
float beta = y.dot(S.inverse() * y);
if (beta > 1000.0f) {
if (beta > _faultPos.get()) {
printf("fault in gps: beta = %8.4f\n", (double)beta);
printf("Y/N: vN: %8.4f, vE: %8.4f, lat: %8.4f, lon: %8.4f, alt: %8.4f\n",
double(y(0) / noiseVel),