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ekf2: don't store vehicle_land_detected_s

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This commit is contained in:
Daniel Agar
2020-10-27 14:17:13 -04:00
parent 7757aeda94
commit d27573b797
2 changed files with 12 additions and 8 deletions
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src/modules/ekf2/EKF2.cpp
+9 -7
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@@ -629,11 +629,13 @@ void EKF2::Run()
new_ev_data_received = true;
}
bool vehicle_land_detected_updated = _vehicle_land_detected_sub.updated();
if (_vehicle_land_detected_sub.updated()) {
vehicle_land_detected_s vehicle_land_detected;
if (vehicle_land_detected_updated) {
if (_vehicle_land_detected_sub.copy(&_vehicle_land_detected)) {
_ekf.set_in_air_status(!_vehicle_land_detected.landed);
if (_vehicle_land_detected_sub.copy(&vehicle_land_detected)) {
_ekf.set_in_air_status(!vehicle_land_detected.landed);
_landed = vehicle_land_detected.landed;
_in_ground_effect = vehicle_land_detected.in_ground_effect;
}
}
@@ -757,9 +759,9 @@ void EKF2::Run()
// _had_valid_terrain is used to make sure that we don't fall back to using this option
// if we temporarily lose terrain data due to the distance sensor getting out of range
} else if (vehicle_land_detected_updated && !_had_valid_terrain) {
} else if (!_had_valid_terrain) {
// update ground effect flag based on land detector state
_ekf.set_gnd_effect_flag(_vehicle_land_detected.in_ground_effect);
_ekf.set_gnd_effect_flag(_in_ground_effect);
}
} else {
@@ -932,7 +934,7 @@ void EKF2::Run()
/* Check and save learned magnetometer bias estimates */
// Check if conditions are OK for learning of magnetometer bias values
if (!_vehicle_land_detected.landed && // not on ground
if (!_landed && // not on ground
(_vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) && // vehicle is armed
!status.filter_fault_flags && // there are no filter faults
control_status.flags.mag_3D) { // the EKF is operating in the correct mode