fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: format fixes

Browse Source
This commit is contained in:
Paul Riseborough 2017-04-22 09:58:34 +10:00 committed by Lorenz Meier
parent 1a2ef45a4b
commit b64e40b5da
1 changed files with 4 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
src/modules/ekf2/ekf2_main.cpp
View File

@ -158,7 +158,8 @@ private:
float _acc_hor_filt = 0.0f; // low-pass filtered horizontal acceleration
// Used to check, save and use learned magnetometer biases
hrt_abstime _last_invalid_magcal_us = 0; // last time the conditions for a valid ekf magnetometer cal were not met (usec)
hrt_abstime _last_invalid_magcal_us =
0; // last time the conditions for a valid ekf magnetometer cal were not met (usec)
float _last_valid_mag_cal[3] = {}; // last valid XYZ magnetometer bias estimates (mGauss)
bool _valid_cal_available[3] = {}; // true when an unsaved valid calibration for the XYZ magnetometer bias is available
float _last_valid_variance[3] = {}; // variances for the last valid magnetometer XYZ bias estimates (mGauss**2)
@ -1018,12 +1019,13 @@ void Ekf2::task_main()
|| !mag_cal_active) {
_last_invalid_magcal_us = now;
} else if (((now - _last_invalid_magcal_us) > 180*1000*1000ULL)
} else if (((now - _last_invalid_magcal_us) > 180 * 1000 * 1000ULL)
&& (_invalid_mag_id_count == 0)) {
// we have sufficient continuous valid flight time to form a bias estimate
// Don't record bias estimates to save later if variances are outside the valid range
float max_var_allowed = 100.0f * _mag_bias_saved_variance.get();
float min_var_allowed = 0.01f * _mag_bias_saved_variance.get();
for (uint8_t axis_index = 0; axis_index <= 2; axis_index++) {
if (status.covariances[axis_index + 19] > min_var_allowed
&& status.covariances[axis_index + 19] < max_var_allowed) {