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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/optflow_fusion.cpp
+7 -2
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@@ -213,6 +213,7 @@ void Ekf::fuseOptFlow()
float t92 = t2*t7*t69;
float t77 = R_LOS+t37+t43+t50+t63+t76-t87-t92;
float t78;
// calculate innovation variance for X axis observation and protect against a badly conditioned calculation
if (t77 >= R_LOS) {
t78 = 1.0f / t77;
@@ -403,6 +404,7 @@ void Ekf::fuseOptFlow()
// record the innovation test pass/fail
bool flow_fail = false;
for (uint8_t obs_index = 0; obs_index <= 1; obs_index++) {
if (optflow_test_ratio[obs_index] > 1.0f) {
flow_fail = true;
@@ -434,6 +436,7 @@ void Ekf::fuseOptFlow()
// then calculate P - KHP
float KHP[_k_num_states][_k_num_states];
float KH[7];
for (unsigned row = 0; row < _k_num_states; row++) {
KH[0] = gain[row] * H_LOS[obs_index][0];
@@ -461,11 +464,12 @@ void Ekf::fuseOptFlow()
bool healthy = true;
_fault_status.flags.bad_optflow_X = false;
_fault_status.flags.bad_optflow_Y = 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;
@@ -473,6 +477,7 @@ void Ekf::fuseOptFlow()
// update individual measurement health status
if (obs_index == 0) {
_fault_status.flags.bad_optflow_X = true;
} else if (obs_index == 1) {
_fault_status.flags.bad_optflow_Y = true;
}