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AP_NavEKF3: use scalar rather than array for state-prediction-allowed

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EKF2 needs this for choosing alternate cores.  EKF3 does not.
This commit is contained in:
Peter Barker 2020-10-21 15:43:17 +11:00 committed by Peter Barker
parent e4f4868d9b
commit 914629351f
1 changed files with 3 additions and 5 deletions
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8
libraries/AP_NavEKF3/AP_NavEKF3.cpp
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@ -819,19 +819,17 @@ void NavEKF3::UpdateFilter(void)
imuSampleTime_us = AP::dal().micros64();
bool statePredictEnabled[num_cores];
for (uint8_t i=0; i<num_cores; i++) {
// if we have not overrun by more than 3 IMU frames, and we
// have already used more than 1/3 of the CPU budget for this
// loop then suppress the prediction step. This allows
// multiple EKF instances to cooperate on scheduling
bool allow_state_prediction = true;
if (core[i].getFramesSincePredict() < (_framesPerPrediction+3) &&
AP::dal().ekf_low_time_remaining(AP_DAL::EKFType::EKF3, i)) {
statePredictEnabled[i] = false;
} else {
statePredictEnabled[i] = true;
allow_state_prediction = false;
}
core[i].UpdateFilter(statePredictEnabled[i]);
core[i].UpdateFilter(allow_state_prediction);
}
// If the current core selected has a bad error score or is unhealthy, switch to a healthy core with the lowest fault score