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AP_NavEKF3: rename gpsVelInnovTime_ms to gpsRetrieveTime_ms

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in preparation for using this for other things
This commit is contained in:
Peter Barker 2024-08-30 10:13:56 +10:00 committed by Andrew Tridgell
parent 2a6b45f4d9
commit e8f361458e
3 changed files with 4 additions and 4 deletions
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2
libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
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@ -487,7 +487,7 @@ bool NavEKF3_core::getVelInnovationsAndVariancesForSource(AP_NavEKF_Source::Sour
switch (source) {
case AP_NavEKF_Source::SourceXY::GPS:
// check for timeouts
if (dal.millis() - gpsVelInnovTime_ms > 500) {
if (dal.millis() - gpsRetrieveTime_ms > 500) {
return false;
}
innovations = gpsVelInnov.tofloat();

4
libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
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@ -500,8 +500,8 @@ void NavEKF3_core::SelectVelPosFusion()
CorrectGPSForAntennaOffset(gpsDataDelayed);
// calculate innovations and variances for reporting purposes only
CalculateVelInnovationsAndVariances(gpsDataDelayed.vel, frontend->_gpsHorizVelNoise, frontend->gpsNEVelVarAccScale, gpsVelInnov, gpsVelVarInnov);
// record time innovations were calculated (for timeout checks)
gpsVelInnovTime_ms = dal.millis();
// record time GPS data was retrieved from the buffer (for timeout checks)
gpsRetrieveTime_ms = dal.millis();
}
// detect position source changes. Trigger position reset if position source is valid

2
libraries/AP_NavEKF3/AP_NavEKF3_core.h
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@ -1259,7 +1259,7 @@ private:
bool gpsAccuracyGoodForAltitude; // true when the GPS accuracy is considered to be good enough to use it as an altitude source.
Vector3F gpsVelInnov; // gps velocity innovations
Vector3F gpsVelVarInnov; // gps velocity innovation variances
uint32_t gpsVelInnovTime_ms; // system time that gps velocity innovations were recorded (to detect timeouts)
uint32_t gpsRetrieveTime_ms; // system time that GPS data was retrieved from the buffer (to detect timeouts)
// variables added for optical flow fusion
EKF_obs_buffer_t<of_elements> storedOF; // OF data buffer