fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-28 03:00:36 +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
2024-02-14 20:46:28 -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/EKF2.cpp
-6
View File
@@ -1896,12 +1896,6 @@ void EKF2::PublishStatusFlags(const hrt_abstime &timestamp)
status_flags.fs_bad_sideslip = _ekf.fault_status_flags().bad_sideslip;
status_flags.fs_bad_optflow_x = _ekf.fault_status_flags().bad_optflow_X;
status_flags.fs_bad_optflow_y = _ekf.fault_status_flags().bad_optflow_Y;
status_flags.fs_bad_vel_n = _ekf.fault_status_flags().bad_vel_N;
status_flags.fs_bad_vel_e = _ekf.fault_status_flags().bad_vel_E;
status_flags.fs_bad_vel_d = _ekf.fault_status_flags().bad_vel_D;
status_flags.fs_bad_pos_n = _ekf.fault_status_flags().bad_pos_N;
status_flags.fs_bad_pos_e = _ekf.fault_status_flags().bad_pos_E;
status_flags.fs_bad_pos_d = _ekf.fault_status_flags().bad_pos_D;
status_flags.fs_bad_acc_bias = _ekf.fault_status_flags().bad_acc_bias;
status_flags.fs_bad_acc_vertical = _ekf.fault_status_flags().bad_acc_vertical;
status_flags.fs_bad_acc_clipping = _ekf.fault_status_flags().bad_acc_clipping;