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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/PreFlightCheckerTest.cpp
-15
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@@ -91,18 +91,3 @@ TEST_F(PreFlightCheckerTest, testInnov2dFailed)
EXPECT_FALSE(PreFlightChecker::checkInnov2DFailed(innovations[i], innovations_lpf[i], 1.42));
}
}
TEST_F(PreFlightCheckerTest, testBitMask)
{
PreFlightChecker preflt_checker;
const bool heading_failed = true;
const bool horiz_vel_failed = true;
const bool down_vel_failed = false;
const bool height_failed = true;
int bitmask = PreFlightChecker::prefltFailBoolToBitMask(heading_failed, horiz_vel_failed, down_vel_failed,
height_failed);
EXPECT_EQ(bitmask, 0b1011);
}