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PX4 style fixes (excluding EKF generated code)

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This commit is contained in:
Daniel Agar
2018-05-03 22:25:36 -04:00
parent e5952fadaf
commit c5b2f59f57
22 changed files with 384 additions and 187 deletions
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EKF/airspeed_fusion.cpp
+6 -2
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@@ -121,6 +121,7 @@ void Ekf::fuseAirspeed()
for (unsigned row = 0; row <= 21; row++) {
Kfusion[row] = 0.0f;
}
} else {
// we have no other source of aiding, so use airspeed measurements to correct states
Kfusion[0] = SK_TAS[0]*(P[0][4]*SH_TAS[2] - P[0][22]*SH_TAS[2] + P[0][5]*SK_TAS[1] - P[0][23]*SK_TAS[1] + P[0][6]*vd*SH_TAS[0]);
@@ -164,6 +165,7 @@ void Ekf::fuseAirspeed()
if (_tas_test_ratio > 1.0f) {
_innov_check_fail_status.flags.reject_airspeed = true;
return;
} else {
_innov_check_fail_status.flags.reject_airspeed = false;
}
@@ -176,6 +178,7 @@ void Ekf::fuseAirspeed()
// then calculate P - KHP
float KHP[_k_num_states][_k_num_states];
float KH[5];
for (unsigned row = 0; row < _k_num_states; row++) {
KH[0] = Kfusion[row] * H_TAS[4];
@@ -198,11 +201,12 @@ void Ekf::fuseAirspeed()
// the covariance marix is unhealthy and must be corrected
bool healthy = true;
_fault_status.flags.bad_airspeed = false;
for (int i = 0; i < _k_num_states; i++) {
if (P[i][i] < KHP[i][i]) {
// zero rows and columns
zeroRows(P,i,i);
zeroCols(P,i,i);
zeroRows(P, i, i);
zeroCols(P, i, i);
//flag as unhealthy
healthy = false;