From fc1779754838a69e134db595f1042f6a96a54ba6 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Fri, 10 Dec 2021 16:43:00 -0500 Subject: [PATCH] ekf2: delete obsolete _bad_vert_accel_detected --- src/modules/ekf2/EKF/ekf.h | 1 - src/modules/ekf2/EKF/vel_pos_fusion.cpp | 4 ++-- 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h index 299dd3e3f1..7ca45805c2 100644 --- a/src/modules/ekf2/EKF/ekf.h +++ b/src/modules/ekf2/EKF/ekf.h @@ -550,7 +550,6 @@ private: // imu fault status uint64_t _time_bad_vert_accel{0}; ///< last time a bad vertical accel was detected (uSec) uint64_t _time_good_vert_accel{0}; ///< last time a good vertical accel was detected (uSec) - bool _bad_vert_accel_detected{false}; ///< true when bad vertical accelerometer data has been detected uint16_t _clip_counter{0}; ///< counter that increments when clipping ad decrements when not // variables used to control range aid functionality diff --git a/src/modules/ekf2/EKF/vel_pos_fusion.cpp b/src/modules/ekf2/EKF/vel_pos_fusion.cpp index 3df12d7b2e..4b1163d303 100644 --- a/src/modules/ekf2/EKF/vel_pos_fusion.cpp +++ b/src/modules/ekf2/EKF/vel_pos_fusion.cpp @@ -86,7 +86,7 @@ bool Ekf::fuseVerticalVelocity(const Vector3f &innov, const Vector2f &innov_gate // but limit innovation to prevent spikes that could destabilise the filter float innovation; - if (_bad_vert_accel_detected && !innov_check_pass) { + if (_fault_status.flags.bad_acc_vertical && !innov_check_pass) { const float innov_limit = innov_gate(1) * sqrtf(innov_var(2)); innovation = math::constrain(innov(2), -innov_limit, innov_limit); innov_check_pass = true; @@ -160,7 +160,7 @@ bool Ekf::fuseVerticalPosition(const Vector3f &innov, const Vector2f &innov_gate // but limit innovation to prevent spikes that could destabilise the filter float innovation; - if (_bad_vert_accel_detected && !innov_check_pass) { + if (_fault_status.flags.bad_acc_vertical && !innov_check_pass) { const float innov_limit = innov_gate(1) * sqrtf(innov_var(2)); innovation = math::constrain(innov(2), -innov_limit, innov_limit); innov_check_pass = true;