fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-28 04:13:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

PX4 style fixes (excluding EKF generated code)

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
EKF/terrain_estimator.cpp
+6 -3
View File
@@ -46,7 +46,7 @@
bool Ekf::initHagl()
{
// get most recent range measurement from buffer
const rangeSample& latest_measurement = _range_buffer.get_newest();
const rangeSample &latest_measurement = _range_buffer.get_newest();
if ((_time_last_imu - latest_measurement.time_us) < (uint64_t)2e5 && _R_rng_to_earth_2_2 > _params.range_cos_max_tilt) {
// if we have a fresh measurement, use it to initialise the terrain estimator
@@ -154,6 +154,7 @@ void Ekf::fuseHagl()
if (_time_last_imu - _time_last_hagl_fuse > (uint64_t)10E6) {
_terrain_vpos = _state.pos(2) + meas_hagl;
_terrain_var = obs_variance;
} else {
_innov_check_fail_status.flags.reject_hagl = true;
}
@@ -170,15 +171,17 @@ void Ekf::fuseHagl()
// return true if the terrain height estimate is valid
bool Ekf::get_terrain_valid()
{
return _hagl_valid;
return _hagl_valid;
}
// determine terrain validity
void Ekf::update_terrain_valid()
{
if (_terrain_initialised && _range_data_continuous && !_control_status.flags.rng_stuck &&
(_time_last_imu - _time_last_hagl_fuse < (uint64_t)5e6)) {
(_time_last_imu - _time_last_hagl_fuse < (uint64_t)5e6)) {
_hagl_valid = true;
} else {
_hagl_valid = false;
}