fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 02:43:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: move fuseVelPosHeight() -> fuseDirectStateMeasurement()

Browse Source 
- don't bother keeping bad_vel_{N,E,D} and bad_pos_{N,E,D} fault status bits
This commit is contained in:
Daniel Agar
2024-02-20 13:16:24 -05:00
parent 021dd0d0af
commit c4c41c49e5
7 changed files with 60 additions and 145 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF/ekf.h
+2 -4
View File
@@ -327,8 +327,8 @@ public:
#endif
}
// fuse single velocity and position measurement
bool fuseVelPosHeight(const float innov, const float innov_var, const int state_index);
// fuse single direct state measurement (eg NED velocity, NED position, mag earth field, etc)
bool fuseDirectStateMeasurement(const float innov, const float innov_var, const int state_index);
// gyro bias
const Vector3f &getGyroBias() const { return _state.gyro_bias; } // get the gyroscope bias in rad/s
@@ -1137,8 +1137,6 @@ private:
void resetFakePosFusion();
void stopFakePosFusion();
void setVelPosStatus(const int state_index, const bool healthy);
// reset the quaternion states and covariances to the new yaw value, preserving the roll and pitch
// yaw : Euler yaw angle (rad)
// yaw_variance : yaw error variance (rad^2)