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ekf2: Fix heading not stable issue. The prblem was that a large

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dt could drive the alpha filter crazy because of the small dt
approximation during the computation of the coefficient.
- Remove unused bitmask packing of the innovation checks
This commit is contained in:
bresch
2019-10-24 10:50:14 +02:00
committed by Matthias Grob
parent 2fc5789d68
commit a7727769e9
4 changed files with 1 additions and 28 deletions
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src/modules/ekf2/Utility/PreFlightChecker.cpp
-6
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@@ -117,12 +117,6 @@ bool PreFlightChecker::checkInnov2DFailed(const Vector2f &innov, const Vector2f
|| innov.norm_squared() > sq(2.0f * test_limit);
}
uint8_t PreFlightChecker::prefltFailBoolToBitMask(const bool heading_failed, const bool horiz_vel_failed,
const bool vert_vel_failed, const bool height_failed)
{
return heading_failed | (horiz_vel_failed << 1) | (vert_vel_failed << 2) | (height_failed << 3);
}
void PreFlightChecker::reset()
{
_is_using_gps_aiding = false;