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ekf2: add some comments

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ChristophTobler
2017-10-04 13:11:11 +02:00
committed by ChristophTobler
parent 8016d69ba4
commit ec61ae0003
1 changed files with 3 additions and 1 deletions
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src/modules/ekf2/ekf2_main.cpp
+3 -1
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@@ -107,7 +107,8 @@ public:
int print_status() override;
private:
int getRangeSubIndex(const int *subs);
int getRangeSubIndex(const int *subs); ///< get subscribtion index of first downward-facing range sensor
bool _replay_mode = false; ///< true when we use replay data from a log
// time slip monitoring
@@ -563,6 +564,7 @@ void Ekf2::run()
if (range_finder_updated) {
orb_copy(ORB_ID(distance_sensor), range_finder_subs[range_finder_sub_index], &range_finder);
// check if distance sensor is within working boundaries
if (range_finder.min_distance >= range_finder.current_distance ||
range_finder.max_distance <= range_finder.current_distance) {
range_finder_updated = false;