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AP_NavEKF: Simplify nested logic - functionally equivalent 

Additional if else statement was unnecessary
This commit is contained in:
priseborough 2015-01-10 04:36:27 +11:00 committed by Randy Mackay
parent 12c3368c4d
commit 6663d80176
1 changed files with 13 additions and 19 deletions
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32
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -759,30 +759,24 @@ void NavEKF::SelectVelPosFusion()
}
// command fusion of GPS data and reset states as required
if (newDataGps) {
if (newDataGps && (PV_AidingMode == AID_ABSOLUTE)) {
// reset data arrived flag
newDataGps = false;
// reset state updates and counter used to spread fusion updates across several frames to reduce 10Hz pulsing
memset(&gpsIncrStateDelta[0], 0, sizeof(gpsIncrStateDelta));
gpsUpdateCount = 0;
// select which of velocity and position measurements will be fused
if (PV_AidingMode == AID_ABSOLUTE) {
// use both if GPS use is enabled
fuseVelData = true;
fusePosData = true;
// If a long time since last GPS update, then reset position and velocity and reset stored state history
if (imuSampleTime_ms - secondLastFixTime_ms > gpsRetryTimeout) {
// Apply an offset to the GPS position so that the position can be corrected gradually
gpsPosGlitchOffsetNE.x = statesAtPosTime.position.x - gpsPosNE.x;
gpsPosGlitchOffsetNE.y = statesAtPosTime.position.y - gpsPosNE.y;
// limit the radius of the offset to 100m and decay the offset to zero radially
decayGpsOffset();
ResetPosition();
ResetVelocity();
}
} else {
fuseVelData = false;
fusePosData = false;
// use both if GPS use is enabled
fuseVelData = true;
fusePosData = true;
// If a long time since last GPS update, then reset position and velocity and reset stored state history
if (imuSampleTime_ms - secondLastFixTime_ms > gpsRetryTimeout) {
// Apply an offset to the GPS position so that the position can be corrected gradually
gpsPosGlitchOffsetNE.x = statesAtPosTime.position.x - gpsPosNE.x;
gpsPosGlitchOffsetNE.y = statesAtPosTime.position.y - gpsPosNE.y;
// limit the radius of the offset to 100m and decay the offset to zero radially
decayGpsOffset();
ResetPosition();
ResetVelocity();
}
} else {
fuseVelData = false;