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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/ekf2/EKF2.cpp
+2 -2
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@@ -1796,7 +1796,7 @@ void EKF2::PublishStatus(const hrt_abstime &timestamp)
status.vel_test_ratio = NAN;
}
status.mag_test_ratio = _ekf.getHeadingInnovationTestRatio();
status.hdg_test_ratio = _ekf.getHeadingInnovationTestRatio();
status.pos_test_ratio = _ekf.getHorizontalPositionInnovationTestRatio();
status.hgt_test_ratio = _ekf.getVerticalPositionInnovationTestRatio();
status.tas_test_ratio = _ekf.getAirspeedInnovationTestRatio();
@@ -1816,7 +1816,7 @@ void EKF2::PublishStatus(const hrt_abstime &timestamp)
status.time_slip = _last_time_slip_us * 1e-6f;
static constexpr float kMinTestRatioPreflight = 0.5f;
status.pre_flt_fail_innov_heading = (kMinTestRatioPreflight < status.mag_test_ratio);
status.pre_flt_fail_innov_heading = (kMinTestRatioPreflight < status.hdg_test_ratio);
status.pre_flt_fail_innov_height = (kMinTestRatioPreflight < status.hgt_test_ratio);
status.pre_flt_fail_innov_pos_horiz = (kMinTestRatioPreflight < status.pos_test_ratio);
status.pre_flt_fail_innov_vel_horiz = (kMinTestRatioPreflight < vel_xy_test_ratio);