fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-25 10:53:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

EKF add clarity brackets to avoid potential confusion

Browse Source 
- fixes https://github.com/PX4/ecl/issues/555
This commit is contained in:
Daniel Agar
2019-01-30 09:15:53 -05:00
parent 721f5e61a5
commit a5e6191ba7
4 changed files with 36 additions and 36 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/ekf_helper.cpp
+5 -5
View File
@@ -1322,11 +1322,11 @@ bool Ekf::global_position_is_valid()
void Ekf::update_deadreckoning_status()
{
bool velPosAiding = (_control_status.flags.gps || _control_status.flags.ev_pos)
&& ((_time_last_imu - _time_last_pos_fuse <= _params.no_aid_timeout_max)
|| (_time_last_imu - _time_last_vel_fuse <= _params.no_aid_timeout_max)
|| (_time_last_imu - _time_last_delpos_fuse <= _params.no_aid_timeout_max));
bool optFlowAiding = _control_status.flags.opt_flow && (_time_last_imu - _time_last_of_fuse <= _params.no_aid_timeout_max);
bool airDataAiding = _control_status.flags.wind && (_time_last_imu - _time_last_arsp_fuse <= _params.no_aid_timeout_max) && (_time_last_imu - _time_last_beta_fuse <= _params.no_aid_timeout_max);
&& (((_time_last_imu - _time_last_pos_fuse) <= _params.no_aid_timeout_max)
|| ((_time_last_imu - _time_last_vel_fuse) <= _params.no_aid_timeout_max)
|| ((_time_last_imu - _time_last_delpos_fuse) <= _params.no_aid_timeout_max));
bool optFlowAiding = _control_status.flags.opt_flow && ((_time_last_imu - _time_last_of_fuse) <= _params.no_aid_timeout_max);
bool airDataAiding = _control_status.flags.wind && ((_time_last_imu - _time_last_arsp_fuse) <= _params.no_aid_timeout_max) && ((_time_last_imu - _time_last_beta_fuse) <= _params.no_aid_timeout_max);
_is_wind_dead_reckoning = !velPosAiding && !optFlowAiding && airDataAiding;
_is_dead_reckoning = !velPosAiding && !optFlowAiding && !airDataAiding;