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gps_alt: rename getGpsAltVar -> getGpsHeightVariance

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bresch 2020-12-10 12:33:52 +01:00 committed by Paul Riseborough
parent 62f2e26c49
commit b0cf45e2d2
4 changed files with 4 additions and 4 deletions
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2
EKF/control.cpp
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@ -1103,7 +1103,7 @@ void Ekf::controlHeightFusion()
Vector3f gps_hgt_obs_var;
// vertical position innovation - gps measurement has opposite sign to earth z axis
_gps_pos_innov(2) = _state.pos(2) + _gps_sample_delayed.hgt - _gps_alt_ref - _hgt_sensor_offset;
gps_hgt_obs_var(2) = getGpsAltVar();
gps_hgt_obs_var(2) = getGpsHeightVariance();
// innovation gate size
gps_hgt_innov_gate(1) = fmaxf(_params.baro_innov_gate, 1.0f);
// fuse height information

2
EKF/covariance.cpp
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@ -74,7 +74,7 @@ void Ekf::initialiseCovariance()
P(9,9) = sq(fmaxf(_params.range_noise, 0.01f));
} else if (_control_status.flags.gps_hgt) {
P(9,9) = getGpsAltVar();
P(9,9) = getGpsHeightVariance();
} else {
P(9,9) = sq(fmaxf(_params.baro_noise, 0.01f));

2
EKF/ekf.h
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@ -852,7 +852,7 @@ private:
void updateBaroHgtOffset();
// return an estimation of the GPS altitude variance
float getGpsAltVar();
float getGpsHeightVariance();
// calculate the measurement variance for the optical flow sensor
float calcOptFlowMeasVar();

2
EKF/ekf_helper.cpp
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@ -1244,7 +1244,7 @@ void Ekf::updateBaroHgtOffset()
}
}
float Ekf::getGpsAltVar()
float Ekf::getGpsHeightVariance()
{
// observation variance - receiver defined and parameter limited
const float lower_limit = fmaxf(_params.gps_pos_noise, 0.01f);