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Copter: check for EKF lane switch to avoid EKF failsafe

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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
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7
ArduCopter/ekf_check.cpp
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@ -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