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msgs/EstimatorStatus.msg rename mag_test_ratio -> hdg_test_ratio

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- this is used for more than just mag
This commit is contained in:
Daniel Agar
2024-07-17 10:26:39 -04:00
committed by Mathieu Bresciani
parent eac14b7db2
commit ca9948a84d
9 changed files with 13 additions and 13 deletions
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src/modules/airspeed_selector/AirspeedValidator.cpp
+3 -3
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@@ -58,7 +58,7 @@ AirspeedValidator::update_airspeed_validator(const airspeed_validator_update_dat
update_in_fixed_wing_flight(input_data.in_fixed_wing_flight);
check_airspeed_data_stuck(input_data.timestamp);
check_load_factor(input_data.accel_z);
check_airspeed_innovation(input_data.timestamp, input_data.vel_test_ratio, input_data.mag_test_ratio,
check_airspeed_innovation(input_data.timestamp, input_data.vel_test_ratio, input_data.hdg_test_ratio,
input_data.ground_velocity, input_data.gnss_valid);
check_first_principle(input_data.timestamp, input_data.fixed_wing_tecs_throttle,
input_data.fixed_wing_tecs_throttle_trim, input_data.tecs_timestamp, input_data.q_att);
@@ -214,7 +214,7 @@ AirspeedValidator::check_airspeed_data_stuck(uint64_t time_now)
void
AirspeedValidator::check_airspeed_innovation(uint64_t time_now, float estimator_status_vel_test_ratio,
float estimator_status_mag_test_ratio, const matrix::Vector3f &vI, bool gnss_valid)
float estimator_status_hdg_test_ratio, const matrix::Vector3f &vI, bool gnss_valid)
{
// Check normalised innovation levels with requirement for continuous data and use of hysteresis
// to prevent false triggering.
@@ -228,7 +228,7 @@ AirspeedValidator::check_airspeed_innovation(uint64_t time_now, float estimator_
_innovations_check_failed = false;
_aspd_innov_integ_state = 0.f;
} else if (!gnss_valid || estimator_status_vel_test_ratio > 1.f || estimator_status_mag_test_ratio > 1.f) {
} else if (!gnss_valid || estimator_status_vel_test_ratio > 1.f || estimator_status_hdg_test_ratio > 1.f) {
//nav velocity data is likely not good
//don't run the test but don't reset the check if it had previously failed when nav velocity data was still likely good
_aspd_innov_integ_state = 0.f;