Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Copter: minor formatting fix to ekf failsafe check

This commit is contained in:
Randy Mackay 2019-03-15 15:35:18 +09:00
parent 6bee4216c0
commit 467e8481fb
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
ArduCopter/ekf_check.cpp
View File

@ -100,13 +100,13 @@ bool Copter::ekf_over_threshold()
Vector2f offset; Vector2f offset;
ahrs.get_variances(vel_variance, position_variance, height_variance, mag_variance, tas_variance, offset); ahrs.get_variances(vel_variance, position_variance, height_variance, mag_variance, tas_variance, offset);
// return true if two of compass, velocity and position variances are over the threshold // return true if two of compass, velocity and position variances are over the threshold OR velocity variance is twice the threshold
uint8_t over_thresh_count = 0; uint8_t over_thresh_count = 0;
if (mag_variance.length() >= g.fs_ekf_thresh) { if (mag_variance.length() >= g.fs_ekf_thresh) {
over_thresh_count++; over_thresh_count++;
} }
if (vel_variance >= (2.0f * g.fs_ekf_thresh)) { if (vel_variance >= (2.0f * g.fs_ekf_thresh)) {
over_thresh_count+=2; over_thresh_count += 2;
} else if (vel_variance >= g.fs_ekf_thresh) { } else if (vel_variance >= g.fs_ekf_thresh) {
over_thresh_count++; over_thresh_count++;
} }