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Copter: minor comment fixes to ekf failsafe

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the bad variances can be from the compass, velocity or position estimate
This commit is contained in:
Randy Mackay 2022-05-25 21:24:23 +09:00
parent 5cde018198
commit dd0d1d6b3c
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/ekf_check.cpp
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@ -61,7 +61,7 @@ void Copter::ekf_check()
// increment or decrement counters and take action // increment or decrement counters and take action
if (!checks_passed) { if (!checks_passed) {
// if compass is not yet flagged as bad // if variances are not yet flagged as bad
if (!ekf_check_state.bad_variance) { if (!ekf_check_state.bad_variance) {
// increase counter // increase counter
ekf_check_state.fail_count++; ekf_check_state.fail_count++;
@ -94,7 +94,7 @@ void Copter::ekf_check()
if (ekf_check_state.fail_count > 0) { if (ekf_check_state.fail_count > 0) {
ekf_check_state.fail_count--; ekf_check_state.fail_count--;
// if compass is flagged as bad and the counter reaches zero then clear flag // if variances are flagged as bad and the counter reaches zero then clear flag
if (ekf_check_state.bad_variance && ekf_check_state.fail_count == 0) { if (ekf_check_state.bad_variance && ekf_check_state.fail_count == 0) {
ekf_check_state.bad_variance = false; ekf_check_state.bad_variance = false;
AP::logger().Write_Error(LogErrorSubsystem::EKFCHECK, LogErrorCode::EKFCHECK_VARIANCE_CLEARED); AP::logger().Write_Error(LogErrorSubsystem::EKFCHECK, LogErrorCode::EKFCHECK_VARIANCE_CLEARED);