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EKF: Removed the fixed wing land detector in the EKF module

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This commit is contained in:
Johan Jansen
2015-01-15 14:37:50 +01:00
parent 642063c3b8
commit cffba8440e
1 changed files with 1 additions and 24 deletions
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src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+1 -24
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@@ -290,10 +290,6 @@ private:
AttPosEKF *_ekf; AttPosEKF *_ekf;
float _velocity_xy_filtered;
float _velocity_z_filtered;
float _airspeed_filtered;
/** /**
* Update our local parameter cache. * Update our local parameter cache.
*/ */
@@ -422,10 +418,7 @@ FixedwingEstimator::FixedwingEstimator() :
_mavlink_fd(-1), _mavlink_fd(-1),
_parameters{}, _parameters{},
_parameter_handles{}, _parameter_handles{},
_ekf(nullptr), _ekf(nullptr)
_velocity_xy_filtered(0.0f),
_velocity_z_filtered(0.0f),
_airspeed_filtered(0.0f)
{ {
_last_run = hrt_absolute_time(); _last_run = hrt_absolute_time();
@@ -1434,22 +1427,6 @@ FixedwingEstimator::task_main()
_local_pos.v_z_valid = true; _local_pos.v_z_valid = true;
_local_pos.xy_global = true; _local_pos.xy_global = true;
_velocity_xy_filtered = 0.95f*_velocity_xy_filtered + 0.05f*sqrtf(_local_pos.vx*_local_pos.vx + _local_pos.vy*_local_pos.vy);
_velocity_z_filtered = 0.95f*_velocity_z_filtered + 0.05f*fabsf(_local_pos.vz);
_airspeed_filtered = 0.95f*_airspeed_filtered + 0.05f*_airspeed.true_airspeed_m_s;
/* crude land detector for fixedwing only,
* TODO: adapt so that it works for both, maybe move to another location
*/
if (_velocity_xy_filtered < 5
&& _velocity_z_filtered < 10
&& _airspeed_filtered < 10) {
_local_pos.landed = true;
} else {
_local_pos.landed = false;
}
_local_pos.z_global = false; _local_pos.z_global = false;
_local_pos.yaw = _att.yaw; _local_pos.yaw = _att.yaw;