Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_NavEKF2: make rngBcnDataToFuse const false if beacon not compiled in

Browse Source
This commit is contained in:
Peter Barker 2022-11-15 16:37:36 +11:00 committed by Peter Barker
parent 81d39677ab
commit f36f387948
2 changed files with 6 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
View File

@ -263,7 +263,9 @@ void NavEKF2_core::InitialiseVariables()
varInnovRngBcn = 0.0f; varInnovRngBcn = 0.0f;
innovRngBcn = 0.0f; innovRngBcn = 0.0f;
memset(&lastTimeRngBcn_ms, 0, sizeof(lastTimeRngBcn_ms)); memset(&lastTimeRngBcn_ms, 0, sizeof(lastTimeRngBcn_ms));
#if AP_BEACON_ENABLED
rngBcnDataToFuse = false; rngBcnDataToFuse = false;
#endif
beaconVehiclePosNED.zero(); beaconVehiclePosNED.zero();
beaconVehiclePosErr = 1.0f; beaconVehiclePosErr = 1.0f;
rngBcnLast3DmeasTime_ms = 0; rngBcnLast3DmeasTime_ms = 0;

4
libraries/AP_NavEKF2/AP_NavEKF2_core.h
View File

@ -1019,7 +1019,11 @@ private:
ftype varInnovRngBcn; // range beacon observation innovation variance (m^2) ftype varInnovRngBcn; // range beacon observation innovation variance (m^2)
ftype innovRngBcn; // range beacon observation innovation (m) ftype innovRngBcn; // range beacon observation innovation (m)
uint32_t lastTimeRngBcn_ms[10]; // last time we received a range beacon measurement (msec) uint32_t lastTimeRngBcn_ms[10]; // last time we received a range beacon measurement (msec)
#if AP_BEACON_ENABLED
bool rngBcnDataToFuse; // true when there is new range beacon data to fuse bool rngBcnDataToFuse; // true when there is new range beacon data to fuse
#else
const bool rngBcnDataToFuse = false; // true when there is new range beacon data to fuse
#endif
Vector3F beaconVehiclePosNED; // NED position estimate from the beacon system (NED) Vector3F beaconVehiclePosNED; // NED position estimate from the beacon system (NED)
ftype beaconVehiclePosErr; // estimated position error from the beacon system (m) ftype beaconVehiclePosErr; // estimated position error from the beacon system (m)
uint32_t rngBcnLast3DmeasTime_ms; // last time the beacon system returned a 3D fix (msec) uint32_t rngBcnLast3DmeasTime_ms; // last time the beacon system returned a 3D fix (msec)