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ekf2: move synthetic_position flag to control_status.flags.fake_pos

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This commit is contained in:
bresch
2022-09-10 12:29:29 -04:00
committed by Daniel Agar
parent 86f7e15f7a
commit aa716936bf
8 changed files with 48 additions and 46 deletions
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src/modules/ekf2/EKF/control.cpp
+4 -4
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@@ -659,7 +659,7 @@ void Ekf::controlAirDataFusion()
const bool airspeed_timed_out = isTimedOut(_aid_src_airspeed.time_last_fuse, (uint64_t)10e6);
const bool sideslip_timed_out = isTimedOut(_time_last_beta_fuse, (uint64_t)10e6);
if (_using_synthetic_position || (airspeed_timed_out && sideslip_timed_out && !(_params.fusion_mode & SensorFusionMask::USE_DRAG))) {
if (_control_status.flags.fake_pos || (airspeed_timed_out && sideslip_timed_out && !(_params.fusion_mode & SensorFusionMask::USE_DRAG))) {
_control_status.flags.wind = false;
}
@@ -673,7 +673,7 @@ void Ekf::controlAirDataFusion()
_innov_check_fail_status.flags.reject_airspeed = _aid_src_airspeed.innovation_rejected; // TODO: remove this redundant flag
const bool continuing_conditions_passing = _control_status.flags.in_air && _control_status.flags.fixed_wing && !_using_synthetic_position;
const bool continuing_conditions_passing = _control_status.flags.in_air && _control_status.flags.fixed_wing && !_control_status.flags.fake_pos;
const bool is_airspeed_significant = _airspeed_sample_delayed.true_airspeed > _params.arsp_thr;
const bool is_airspeed_consistent = (_aid_src_airspeed.test_ratio > 0.f && _aid_src_airspeed.test_ratio < 1.f);
const bool starting_conditions_passing = continuing_conditions_passing && is_airspeed_significant
@@ -707,7 +707,7 @@ void Ekf::controlAirDataFusion()
void Ekf::controlBetaFusion()
{
if (_using_synthetic_position) {
if (_control_status.flags.fake_pos) {
return;
}
@@ -733,7 +733,7 @@ void Ekf::controlBetaFusion()
void Ekf::controlDragFusion()
{
if ((_params.fusion_mode & SensorFusionMask::USE_DRAG) && _drag_buffer &&
!_using_synthetic_position && _control_status.flags.in_air && !_mag_inhibit_yaw_reset_req) {
!_control_status.flags.fake_pos && _control_status.flags.in_air && !_mag_inhibit_yaw_reset_req) {
if (!_control_status.flags.wind) {
// reset the wind states and covariances when starting drag accel fusion