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AP_NavEKF: Make ground effect variable names more descriptive

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This commit is contained in:
Paul Riseborough 2015-04-28 07:26:11 +10:00 committed by Randy Mackay
parent 3986851c51
commit 2c4572eb50
2 changed files with 17 additions and 17 deletions
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26
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -1255,7 +1255,7 @@ void NavEKF::CovariancePrediction()
}
// scale accel bias noise when disarmed to allow for faster bias estimation
// inhibit bias estimation during takeoff with ground effect to prevent bad bias learning
if (takeoffExpected) {
if (expectGndEffectTakeoff) {
processNoise[13] = 0.0f;
} else if (!vehicleArmed) {
processNoise[13] = dVelBiasSigma * accelBiasNoiseScaler;
@ -4589,9 +4589,9 @@ void NavEKF::InitialiseVariables()
flowXfailed = false;
validOrigin = false;
takeoffExpectedSet_ms = 0;
takeoffExpected = false;
expectGndEffectTakeoff = false;
touchdownExpectedSet_ms = 0;
touchdownExpected = false;
expectGndEffectTouchdown = false;
gpsSpdAccuracy = 0.0f;
baroHgtOffset = 0.0f;
gpsAidingBad = false;
@ -4751,8 +4751,8 @@ void NavEKF::getFilterStatus(nav_filter_status &status) const
status.flags.pred_horiz_pos_rel = (optFlowNavPossible || gpsNavPossible) && filterHealthy; // we should be able to estimate a relative position when we enter flight mode
status.flags.pred_horiz_pos_abs = gpsNavPossible && filterHealthy; // we should be able to estimate an absolute position when we enter flight mode
status.flags.takeoff_detected = takeOffDetected; // takeoff for optical flow navigation has been detected
status.flags.takeoff = takeoffExpected; // The EKF has been told to expect takeoff and is in a ground effect mitigation mode
status.flags.touchdown = touchdownExpected; // The EKF has been told to detect touchdown and is in a ground effect mitigation mode
status.flags.takeoff = expectGndEffectTakeoff; // The EKF has been told to expect takeoff and is in a ground effect mitigation mode
status.flags.touchdown = expectGndEffectTouchdown; // The EKF has been told to detect touchdown and is in a ground effect mitigation mode
}
// send an EKF_STATUS message to GCS
@ -4945,11 +4945,11 @@ bool NavEKF::setOriginLLH(struct Location &loc)
// determine if a takeoff is expected so that we can compensate for expected barometer errors due to ground effect
bool NavEKF::getTakeoffExpected()
{
if (takeoffExpected && imuSampleTime_ms - takeoffExpectedSet_ms > gndEffectTimeout_ms) {
takeoffExpected = false;
if (expectGndEffectTakeoff && imuSampleTime_ms - takeoffExpectedSet_ms > gndEffectTimeout_ms) {
expectGndEffectTakeoff = false;
}
return takeoffExpected;
return expectGndEffectTakeoff;
}
// called by vehicle code to specify that a takeoff is happening
@ -4957,18 +4957,18 @@ bool NavEKF::getTakeoffExpected()
void NavEKF::setTakeoffExpected(bool val)
{
takeoffExpectedSet_ms = imuSampleTime_ms;
takeoffExpected = val;
expectGndEffectTakeoff = val;
}
// determine if a touchdown is expected so that we can compensate for expected barometer errors due to ground effect
bool NavEKF::getTouchdownExpected()
{
if (touchdownExpected && imuSampleTime_ms - touchdownExpectedSet_ms > gndEffectTimeout_ms) {
touchdownExpected = false;
if (expectGndEffectTouchdown && imuSampleTime_ms - touchdownExpectedSet_ms > gndEffectTimeout_ms) {
expectGndEffectTouchdown = false;
}
return touchdownExpected;
return expectGndEffectTouchdown;
}
// called by vehicle code to specify that a touchdown is expected to happen
@ -4976,7 +4976,7 @@ bool NavEKF::getTouchdownExpected()
void NavEKF::setTouchdownExpected(bool val)
{
touchdownExpectedSet_ms = imuSampleTime_ms;
touchdownExpected = val;
expectGndEffectTouchdown = val;
}
// Monitor GPS data to see if quality is good enough to initialise the EKF

8
libraries/AP_NavEKF/AP_NavEKF.h
View File

@ -740,10 +740,10 @@ private:
float dtDelVel2;
// baro ground effect
bool takeoffExpected; // external state from ArduCopter - takeoff expected
uint32_t takeoffExpectedSet_ms; // system time at which takeoffExpected was set
bool touchdownExpected; // external state from ArduCopter - touchdown expected
uint32_t touchdownExpectedSet_ms; // system time at which touchdownExpected was set
bool expectGndEffectTakeoff; // external state from ArduCopter - takeoff expected
uint32_t takeoffExpectedSet_ms; // system time at which expectGndEffectTakeoff was set
bool expectGndEffectTouchdown; // external state from ArduCopter - touchdown expected
uint32_t touchdownExpectedSet_ms; // system time at which expectGndEffectTouchdown was set
float meaHgtAtTakeOff; // height measured at commencement of takeoff
// states held by optical flow fusion across time steps