Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-10 18:08:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_NavEKF: fixed up handling of bitfields in faultStatus

Browse Source 
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
This commit is contained in:
Andrew Tridgell 2014-05-15 21:42:39 +10:00
parent 182d0f9cb0
commit 5edf4ba596
2 changed files with 31 additions and 17 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

38
libraries/AP_NavEKF/AP_NavEKF.cpp
View File

File diff suppressed because one or more lines are too long

10
libraries/AP_NavEKF/AP_NavEKF.h
View File

@ -466,7 +466,15 @@ private:
float tasTestRatio; // sum of squares of true airspeed innovation divided by fail threshold
bool inhibitWindStates; // true when wind states and covariances are to remain constant
bool inhibitMagStates; // true when magnetic field states and covariances are to remain constant
uint8_t faultStatus; // filter status masked integer
struct {
bool diverged:1;
bool large_covarience:1;
bool bad_xmag:1;
bool bad_ymag:1;
bool bad_zmag:1;
bool bad_airspeed:1;
bool bad_sideslip:1;
} faultStatus;
float scaledDeltaGyrBiasLgth; // scaled delta gyro bias vector length used to test for filter divergence
// states held by magnetomter fusion across time steps