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remove superfluous elseif (#431)

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* remove superfluous elseif

* Set ev_hgt flag false when starting on baro
This commit is contained in:
Bart Slinger 2018-05-11 00:38:42 +02:00 committed by Paul Riseborough
parent 16976d3911
commit bae4b8a5e7
1 changed files with 17 additions and 30 deletions
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47
EKF/ekf.cpp
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@ -189,41 +189,28 @@ bool Ekf::initialiseFilter()
_primary_hgt_source = _params.vdist_sensor_type;
}
// accumulate enough height measurements to be confident in the qulaity of the data
if (_primary_hgt_source == VDIST_SENSOR_BARO || _primary_hgt_source == VDIST_SENSOR_GPS ||
_primary_hgt_source == VDIST_SENSOR_RANGE || _primary_hgt_source == VDIST_SENSOR_EV) {
// accumulate enough height measurements to be confident in the quality of the data
// we use baro height initially and switch to GPS/range/EV finder later when it passes checks.
if (_baro_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_baro_sample_delayed)) {
if ((_hgt_counter == 0) && (_baro_sample_delayed.time_us != 0)) {
// initialise the counter and height fusion method when we start getting data from the buffer
setControlBaroHeight();
_hgt_counter = 1;
// if the user parameter specifies use of GPS/range/EV finder for height we use baro height initially and switch to GPS/range/EV finder
// later when it passes checks.
if (_baro_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_baro_sample_delayed)) {
if ((_hgt_counter == 0) && (_baro_sample_delayed.time_us != 0)) {
// initialise the counter and height fusion method when we start getting data from the buffer
_control_status.flags.baro_hgt = true;
_control_status.flags.gps_hgt = false;
_control_status.flags.rng_hgt = false;
_hgt_counter = 1;
} else if ((_hgt_counter != 0) && (_baro_sample_delayed.time_us != 0)) {
// increment the sample count and apply a LPF to the measurement
_hgt_counter ++;
} else if ((_hgt_counter != 0) && (_baro_sample_delayed.time_us != 0)) {
// increment the sample count and apply a LPF to the measurement
_hgt_counter ++;
// don't start using data until we can be certain all bad initial data has been flushed
if (_hgt_counter == (uint8_t)(_obs_buffer_length + 1)) {
// initialise filter states
_baro_hgt_offset = _baro_sample_delayed.hgt;
// don't start using data until we can be certain all bad initial data has been flushed
if (_hgt_counter == (uint8_t)(_obs_buffer_length + 1)) {
// initialise filter states
_baro_hgt_offset = _baro_sample_delayed.hgt;
} else if (_hgt_counter > (uint8_t)(_obs_buffer_length + 1)) {
// noise filter the data
_baro_hgt_offset = 0.9f * _baro_hgt_offset + 0.1f * _baro_sample_delayed.hgt;
}
} else if (_hgt_counter > (uint8_t)(_obs_buffer_length + 1)) {
// noise filter the data
_baro_hgt_offset = 0.9f * _baro_hgt_offset + 0.1f * _baro_sample_delayed.hgt;
}
}
} else if (_primary_hgt_source == VDIST_SENSOR_EV) {
_hgt_counter = _ev_counter;
} else {
return false;
}
// check to see if we have enough measurements and return false if not