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ekf2: minor position/velocity reset cleanup

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- try to use avoid resetVelocity() call where possible
 - reset timeouts centrally
This commit is contained in:
Daniel Agar
2022-03-08 11:16:35 -05:00
parent c10ea97967
commit b7e0f17c6a
10 changed files with 678 additions and 754 deletions
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src/modules/ekf2/EKF/mag_control.cpp
+1 -11
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@@ -130,7 +130,6 @@ void Ekf::controlMagFusion()
if (_control_status.flags.in_air) {
checkHaglYawResetReq();
runInAirYawReset(mag_sample.mag);
runVelPosReset(); // TODO: review this; a vel/pos reset can be requested from COG reset (for fixedwing) only
} else {
runOnGroundYawReset();
@@ -197,7 +196,7 @@ void Ekf::runInAirYawReset(const Vector3f &mag_sample)
if (_mag_yaw_reset_req && isYawResetAuthorized()) {
bool has_realigned_yaw = false;
if (canRealignYawUsingGps()) {
if (_control_status.flags.gps && _control_status.flags.fixed_wing) {
has_realigned_yaw = realignYawGPS(mag_sample);
} else if (canResetMagHeading()) {
@@ -221,15 +220,6 @@ void Ekf::runInAirYawReset(const Vector3f &mag_sample)
}
}
void Ekf::runVelPosReset()
{
if (_velpos_reset_request) {
resetVelocity();
resetHorizontalPosition();
_velpos_reset_request = false;
}
}
void Ekf::selectMagAuto()
{
check3DMagFusionSuitability();