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Copter: make EKF mag variance check use max 

this makes it consistent with logged value
This commit is contained in:
Andrew Tridgell 2020-04-04 16:37:36 +11:00
parent 4f7450dde9
commit 768dcb6768
1 changed files with 3 additions and 1 deletions
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4
ArduCopter/ekf_check.cpp
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@ -105,9 +105,11 @@ 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);
const float mag_max = fmaxf(fmaxf(mag_variance.x,mag_variance.y),mag_variance.z);
// return true if two of compass, velocity and position variances are over the threshold OR velocity variance is twice 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_max >= g.fs_ekf_thresh) {
over_thresh_count++; over_thresh_count++;
} }
if (!optflow.healthy() && (vel_variance >= (2.0f * g.fs_ekf_thresh))) { if (!optflow.healthy() && (vel_variance >= (2.0f * g.fs_ekf_thresh))) {