Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-21 15:23:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: check for EKF lane switch to avoid EKF failsafe

Browse Source 
this fixes an issue with mismatch between the EKF lane switch
threshold and the copter EKF failsafe threshold
This commit is contained in:
Andrew Tridgell 2019-06-08 09:26:48 +10:00
parent 99316a191c
commit 7c44ad04b6
1 changed files with 7 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
ArduCopter/ekf_check.cpp
View File

@ -49,6 +49,13 @@ void Copter::ekf_check()
if (!ekf_check_state.bad_variance) {
// increase counter
ekf_check_state.fail_count++;
#if EKF_CHECK_ITERATIONS_MAX > 2
if (ekf_check_state.fail_count == EKF_CHECK_ITERATIONS_MAX-1) {
// we are just about to declare a EKF failsafe, ask the EKF if we can change lanes
// to resolve the issue
ahrs.check_lane_switch();
}
#endif
// if counter above max then trigger failsafe
if (ekf_check_state.fail_count >= EKF_CHECK_ITERATIONS_MAX) {
// limit count from climbing too high