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AP_AHRS: pass NavEKF failures back up to callers

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Peter Barker 2021-07-19 21:27:36 +10:00 committed by Andrew Tridgell
parent fc2118f42b
commit 141e2aae91
1 changed files with 4 additions and 8 deletions
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12
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -2458,15 +2458,13 @@ bool AP_AHRS_NavEKF::get_innovations(Vector3f &velInnov, Vector3f &posInnov, Vec
#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
// use EKF to get innovations
EKF2.getInnovations(-1, velInnov, posInnov, magInnov, tasInnov, yawInnov);
return true;
return EKF2.getInnovations(-1, velInnov, posInnov, magInnov, tasInnov, yawInnov);
#endif
#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
// use EKF to get innovations
EKF3.getInnovations(-1, velInnov, posInnov, magInnov, tasInnov, yawInnov);
return true;
return EKF3.getInnovations(-1, velInnov, posInnov, magInnov, tasInnov, yawInnov);
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
@ -2503,8 +2501,7 @@ bool AP_AHRS_NavEKF::get_variances(float &velVar, float &posVar, float &hgtVar,
case EKFType::TWO: {
// use EKF to get variance
Vector2f offset;
EKF2.getVariances(-1, velVar, posVar, hgtVar, magVar, tasVar, offset);
return true;
return EKF2.getVariances(-1, velVar, posVar, hgtVar, magVar, tasVar, offset);
}
#endif
@ -2512,8 +2509,7 @@ bool AP_AHRS_NavEKF::get_variances(float &velVar, float &posVar, float &hgtVar,
case EKFType::THREE: {
// use EKF to get variance
Vector2f offset;
EKF3.getVariances(-1, velVar, posVar, hgtVar, magVar, tasVar, offset);
return true;
return EKF3.getVariances(-1, velVar, posVar, hgtVar, magVar, tasVar, offset);
}
#endif