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ekf2: selector treat combined test ratio > 1 as a warning

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* ekf2: selector treat combined test ratio > 1 as a warning
* ekf2: wait for 1s of constant warning to trigger an instance switch

Co-authored-by: bresch <brescianimathieu@gmail.com>
This commit is contained in:
Daniel Agar
2021-12-01 20:22:34 -05:00
committed by GitHub
co-authored by bresch
parent 89892d0d17
commit b7efd4f947
2 changed files with 13 additions and 2 deletions
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src/modules/ekf2/EKF2Selector.hpp
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@@ -125,11 +125,13 @@ private:
uint32_t mag_device_id{0};
hrt_abstime time_last_selected{0};
hrt_abstime time_last_no_warning{0};
float combined_test_ratio{NAN};
float relative_test_ratio{NAN};
bool healthy{false};
bool warning{false};
bool filter_fault{false};
bool timeout{false};