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Copter: rename ekf_check_thresh to fs_ekf_thresh

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This commit is contained in:
Randy Mackay 2015-06-10 10:16:52 +09:00
parent 125042e1db
commit 4408f01f39
4 changed files with 13 additions and 13 deletions
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10
ArduCopter/Parameters.cpp
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@ -479,12 +479,12 @@ const AP_Param::Info Copter::var_info[] PROGMEM = {
// @User: Advanced // @User: Advanced
GSCALAR(land_repositioning, "LAND_REPOSITION", LAND_REPOSITION_DEFAULT), GSCALAR(land_repositioning, "LAND_REPOSITION", LAND_REPOSITION_DEFAULT),
// @Param: EKF_CHECK_THRESH // @Param: FS_EKF_THRESH
// @DisplayName: EKF check compass and velocity variance threshold // @DisplayName: EKF failsafe variance threshold
// @Description: Allows setting the maximum acceptable compass and velocity variance (0 to disable check) // @Description: Allows setting the maximum acceptable compass and velocity variance
// @Values: 0:Disabled, 0.6:Strict, 0.8:Default, 1.0:Relaxed // @Values: 0.6:Strict, 0.8:Default, 1.0:Relaxed
// @User: Advanced // @User: Advanced
GSCALAR(ekfcheck_thresh, "EKF_CHECK_THRESH", EKFCHECK_THRESHOLD_DEFAULT), GSCALAR(fs_ekf_thresh, "FS_EKF_THRESH", FS_EKF_THRESHOLD_DEFAULT),
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
// @Group: HS1_ // @Group: HS1_

4
ArduCopter/Parameters.h
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@ -120,7 +120,7 @@ public:
k_param_serial2_baud, // deprecated - remove k_param_serial2_baud, // deprecated - remove
k_param_land_repositioning, k_param_land_repositioning,
k_param_sonar, // sonar object k_param_sonar, // sonar object
k_param_ekfcheck_thresh, k_param_fs_ekf_thresh,
k_param_terrain, k_param_terrain,
k_param_acro_expo, k_param_acro_expo,
k_param_throttle_deadzone, k_param_throttle_deadzone,
@ -414,7 +414,7 @@ public:
AP_Int8 arming_check; AP_Int8 arming_check;
AP_Int8 land_repositioning; AP_Int8 land_repositioning;
AP_Float ekfcheck_thresh; AP_Float fs_ekf_thresh;
AP_Int16 gcs_pid_mask; AP_Int16 gcs_pid_mask;
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME

6
ArduCopter/config.h
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@ -269,9 +269,9 @@
#endif #endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// EKF Checker // EKF Failsafe
#ifndef EKFCHECK_THRESHOLD_DEFAULT #ifndef FS_EKF_THRESHOLD_DEFAULT
# define EKFCHECK_THRESHOLD_DEFAULT 0.8f // EKF checker's default compass and velocity variance above which the EKF's horizontal position will be considered bad # define FS_EKF_THRESHOLD_DEFAULT 0.8f // EKF failsafe's default compass and velocity variance threshold above which the EKF failsafe will be triggered
#endif #endif
#ifndef EKF_ORIGIN_MAX_DIST_M #ifndef EKF_ORIGIN_MAX_DIST_M

6
ArduCopter/ekf_check.cpp
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@ -31,7 +31,7 @@ static struct {
void Copter::ekf_check() void Copter::ekf_check()
{ {
// return immediately if motors are not armed, ekf check is disabled, not using ekf or usb is connected // return immediately if motors are not armed, ekf check is disabled, not using ekf or usb is connected
if (!motors.armed() || ap.usb_connected || (g.ekfcheck_thresh <= 0.0f)) { if (!motors.armed() || ap.usb_connected || (g.fs_ekf_thresh <= 0.0f)) {
ekf_check_state.fail_count = 0; ekf_check_state.fail_count = 0;
ekf_check_state.bad_variance = false; ekf_check_state.bad_variance = false;
AP_Notify::flags.ekf_bad = ekf_check_state.bad_variance; AP_Notify::flags.ekf_bad = ekf_check_state.bad_variance;
@ -87,7 +87,7 @@ bool Copter::ekf_over_threshold()
{ {
#if AP_AHRS_NAVEKF_AVAILABLE #if AP_AHRS_NAVEKF_AVAILABLE
// return false immediately if disabled // return false immediately if disabled
if (g.ekfcheck_thresh <= 0.0f) { if (g.fs_ekf_thresh <= 0.0f) {
return false; return false;
} }
@ -106,7 +106,7 @@ bool Copter::ekf_over_threshold()
compass_variance = magVar.length(); compass_variance = magVar.length();
// return true if compass and velocity variance over the threshold // return true if compass and velocity variance over the threshold
return (compass_variance >= g.ekfcheck_thresh && vel_variance >= g.ekfcheck_thresh); return (compass_variance >= g.fs_ekf_thresh && vel_variance >= g.fs_ekf_thresh);
#else #else
return false; return false;
#endif #endif