mirror of https://github.com/ArduPilot/ardupilot
AP_NavEKF : useAirspeed set automatically
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@ -204,7 +204,6 @@ NavEKF::NavEKF(const AP_AHRS *ahrs, AP_Baro &baro) :
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_ahrs(ahrs),
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_ahrs(ahrs),
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_baro(baro),
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_baro(baro),
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staticModeDemanded(true), // staticMode demanded from outside
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staticModeDemanded(true), // staticMode demanded from outside
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useAirspeed(true), // activates fusion of compass data
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useCompass(true), // activates fusion of airspeed data
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useCompass(true), // activates fusion of airspeed data
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covTimeStepMax(0.07f), // maximum time (sec) between covariance prediction updates
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covTimeStepMax(0.07f), // maximum time (sec) between covariance prediction updates
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covDelAngMax(0.05f), // maximum delta angle between covariance prediction updates
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covDelAngMax(0.05f), // maximum delta angle between covariance prediction updates
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@ -242,6 +241,7 @@ NavEKF::NavEKF(const AP_AHRS *ahrs, AP_Baro &baro) :
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hgtRate = 0.0f;
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hgtRate = 0.0f;
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mag_state.q0 = 1;
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mag_state.q0 = 1;
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mag_state.DCM.identity();
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mag_state.DCM.identity();
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useAirspeed = _ahrs->get_airspeed();
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}
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}
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bool NavEKF::healthy(void) const
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bool NavEKF::healthy(void) const
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@ -327,7 +327,7 @@ private:
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ftype dt; // time lapsed since the last covariance prediction (sec)
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ftype dt; // time lapsed since the last covariance prediction (sec)
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ftype hgtRate; // state for rate of change of height filter
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ftype hgtRate; // state for rate of change of height filter
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bool onGround; // boolean true when the flight vehicle is on the ground (not flying)
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bool onGround; // boolean true when the flight vehicle is on the ground (not flying)
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const bool useAirspeed; // boolean true if airspeed data is being used
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bool useAirspeed; // boolean true if airspeed data is being used
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const bool useCompass; // boolean true if magnetometer data is being used
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const bool useCompass; // boolean true if magnetometer data is being used
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Vector6 innovVelPos; // innovation output for a group of measurements
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Vector6 innovVelPos; // innovation output for a group of measurements
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Vector6 varInnovVelPos; // innovation variance output for a group of measurements
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Vector6 varInnovVelPos; // innovation variance output for a group of measurements
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