fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-09 03:18:53 +08:00
Code Issues Packages Projects Releases Wiki Activity

gps_alt: rename getGpsAltVar -> getGpsHeightVariance

Browse Source
This commit is contained in:
bresch
2020-12-13 14:39:50 +11:00
committed by Paul Riseborough
parent 62f2e26c49
commit b0cf45e2d2
4 changed files with 4 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/control.cpp
+1 -1
View File
@@ -1103,7 +1103,7 @@ void Ekf::controlHeightFusion()
Vector3f gps_hgt_obs_var; Vector3f gps_hgt_obs_var;
// vertical position innovation - gps measurement has opposite sign to earth z axis // 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_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 // innovation gate size
gps_hgt_innov_gate(1) = fmaxf(_params.baro_innov_gate, 1.0f); gps_hgt_innov_gate(1) = fmaxf(_params.baro_innov_gate, 1.0f);
// fuse height information // fuse height information
EKF/covariance.cpp
+1 -1
View File
@@ -74,7 +74,7 @@ void Ekf::initialiseCovariance()
P(9,9) = sq(fmaxf(_params.range_noise, 0.01f)); P(9,9) = sq(fmaxf(_params.range_noise, 0.01f));
} else if (_control_status.flags.gps_hgt) { } else if (_control_status.flags.gps_hgt) {
P(9,9) = getGpsAltVar(); P(9,9) = getGpsHeightVariance();
} else { } else {
P(9,9) = sq(fmaxf(_params.baro_noise, 0.01f)); P(9,9) = sq(fmaxf(_params.baro_noise, 0.01f));
EKF/ekf.h
+1 -1
View File
@@ -852,7 +852,7 @@ private:
void updateBaroHgtOffset(); void updateBaroHgtOffset();
// return an estimation of the GPS altitude variance // return an estimation of the GPS altitude variance
float getGpsAltVar(); float getGpsHeightVariance();
// calculate the measurement variance for the optical flow sensor // calculate the measurement variance for the optical flow sensor
float calcOptFlowMeasVar(); float calcOptFlowMeasVar();
EKF/ekf_helper.cpp
+1 -1
View File
@@ -1244,7 +1244,7 @@ void Ekf::updateBaroHgtOffset()
} }
} }
float Ekf::getGpsAltVar() float Ekf::getGpsHeightVariance()
{ {
// observation variance - receiver defined and parameter limited // observation variance - receiver defined and parameter limited
const float lower_limit = fmaxf(_params.gps_pos_noise, 0.01f); const float lower_limit = fmaxf(_params.gps_pos_noise, 0.01f);