mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-17 09:47:35 +08:00
Daniel Agar
61 lines
2.4 KiB
C++
61 lines
2.4 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2023 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "ekf.h"
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void Ekf::controlAuxVelFusion()
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{
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if (_auxvel_buffer) {
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auxVelSample auxvel_sample_delayed;
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if (_auxvel_buffer->pop_first_older_than(_time_delayed_us, &auxvel_sample_delayed)) {
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resetEstimatorAidStatus(_aid_src_aux_vel);
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updateVelocityAidSrcStatus(auxvel_sample_delayed.time_us, auxvel_sample_delayed.vel, auxvel_sample_delayed.velVar, fmaxf(_params.auxvel_gate, 1.f), _aid_src_aux_vel);
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if (isHorizontalAidingActive()) {
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_aid_src_aux_vel.fusion_enabled = true;
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fuseVelocity(_aid_src_aux_vel);
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}
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}
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}
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}
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void Ekf::stopAuxVelFusion()
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{
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ECL_INFO("stopping aux vel fusion");
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//_control_status.flags.aux_vel = false;
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resetEstimatorAidStatus(_aid_src_aux_vel);
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}
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