fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-24 17:10:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: delete isStrongMagneticDisturbance()

Browse Source
This commit is contained in:
Daniel Agar
2022-03-21 14:24:24 -04:00
parent 8643a8b4b3
commit 9ee4bf9bf5
2 changed files with 2 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF/ekf.h
-1
View File
@@ -858,7 +858,6 @@ private:
void checkMagInhibition();
bool shouldInhibitMag() const;
void checkMagFieldStrength(const Vector3f &mag);
bool isStrongMagneticDisturbance() const { return _control_status.flags.mag_field_disturbed; }
static bool isMeasuredMatchingExpected(float measured, float expected, float gate);
void runMagAndMagDeclFusions(const Vector3f &mag);
void run3DMagAndDeclFusions(const Vector3f &mag);
src/modules/ekf2/EKF/mag_control.cpp
+2 -3
View File
@@ -189,7 +189,7 @@ void Ekf::runOnGroundYawReset()
bool Ekf::canResetMagHeading() const
{
return !isStrongMagneticDisturbance() && (_params.mag_fusion_type != MAG_FUSE_TYPE_NONE);
return !_control_status.flags.mag_field_disturbed && (_params.mag_fusion_type != MAG_FUSE_TYPE_NONE);
}
void Ekf::runInAirYawReset(const Vector3f &mag_sample)
@@ -313,8 +313,7 @@ bool Ekf::shouldInhibitMag() const
&& !_control_status.flags.ev_pos
&& !_control_status.flags.ev_vel;
return (user_selected && heading_not_required_for_navigation)
|| isStrongMagneticDisturbance();
return (user_selected && heading_not_required_for_navigation) || _control_status.flags.mag_field_disturbed;
}
void Ekf::checkMagFieldStrength(const Vector3f &mag_sample)