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EKF: Remove duplicated event recording

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Paul Riseborough 2021-03-02 19:51:59 +11:00 committed by Daniel Agar
parent 140ca3f48f
commit 9d51ab079a
2 changed files with 2 additions and 4 deletions
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5
EKF/common.h
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@ -513,11 +513,11 @@ union terrain_fusion_status_u {
// define structure used to communicate information events
union information_event_status_u {
struct {
bool ekf_tilt_aligned : 1; ///< 0 - true when the tilt alignment using the sensed gravity vector is complete
bool gps_checks_passed : 1; ///< 0 - true when gps quality checks are passing passed
bool reset_vel_to_gps : 1; ///< 1 - true when the velocity states are reset to the gps measurement
bool reset_vel_to_flow : 1; ///< 2 - true when the velocity states are reset using the optical flow measurement
bool reset_vel_to_vision : 1; ///< 3 - true when the velocity states are reset to the vision system measurement
bool reset_vel_to_zero : 1; ///<4 - true when the velocity states are reset to zero
bool reset_vel_to_zero : 1; ///< 4 - true when the velocity states are reset to zero
bool reset_pos_to_last_known : 1; ///< 5 - true when the position states are reset to the last known position
bool reset_pos_to_gps : 1; ///< 6 - true when the position states are reset to the gps measurement
bool reset_pos_to_vision : 1; ///< 7 - true when the position states are reset to the vision system measurement
@ -526,7 +526,6 @@ union information_event_status_u {
bool starting_vision_vel_fusion : 1; ///< 10 - true when the filter starts using vision system velocity measurements to correct the state estimates
bool starting_vision_yaw_fusion : 1; ///< 11 - true when the filter starts using vision system yaw measurements to correct the state estimates
bool yaw_aligned_to_imu_gps : 1; ///< 12 - true when the filter resets the yaw to an estimate derived from IMU and GPS data
bool gps_checks_passed : 1; ///< 13 - true when gps quality checks are passing passed
} flags;
uint32_t value;
};

1
EKF/control.cpp
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@ -78,7 +78,6 @@ void Ekf::controlFusionModes()
}
if (height_source){
_information_events.flags.ekf_tilt_aligned = true;
ECL_INFO("%llu: EKF aligned, (%s hgt, IMU buf: %i, OBS buf: %i)",
(unsigned long long)_imu_sample_delayed.time_us, height_source, (int)_imu_buffer_length, (int)_obs_buffer_length);
}