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Merge pull request #356 from PX4/pr-ekfMiscUpdate 

EKF: Remove redundant code
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Paul Riseborough 2017-11-16 07:05:18 +11:00 committed by GitHub
parent cfdab732d1 2b20c52c4d
commit 44eaa076db
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2 changed files with 1 additions and 2 deletions
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1
EKF/common.h
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@ -235,7 +235,6 @@ struct parameters {
float baro_innov_gate{5.0f}; ///< barometric and GPS height innovation consistency gate size (STD) float baro_innov_gate{5.0f}; ///< barometric and GPS height innovation consistency gate size (STD)
float posNE_innov_gate{5.0f}; ///< GPS horizontal position innovation consistency gate size (STD) float posNE_innov_gate{5.0f}; ///< GPS horizontal position innovation consistency gate size (STD)
float vel_innov_gate{5.0f}; ///< GPS velocity innovation consistency gate size (STD) float vel_innov_gate{5.0f}; ///< GPS velocity innovation consistency gate size (STD)
float hgt_reset_lim{0.0f}; ///< The maximum 1-sigma uncertainty in height that can be tolerated before the height state is reset (m)
// magnetometer fusion // magnetometer fusion
float mag_heading_noise{3.0e-1f}; ///< measurement noise used for simple heading fusion (rad) float mag_heading_noise{3.0e-1f}; ///< measurement noise used for simple heading fusion (rad)

2
EKF/control.cpp
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@ -581,7 +581,7 @@ void Ekf::controlHeightSensorTimeouts()
bool hgt_fusion_timeout = ((_time_last_imu - _time_last_hgt_fuse) > (uint64_t)5e6); bool hgt_fusion_timeout = ((_time_last_imu - _time_last_hgt_fuse) > (uint64_t)5e6);
// reset the vertical position and velocity states // reset the vertical position and velocity states
if ((P[9][9] > sq(_params.hgt_reset_lim)) && (hgt_fusion_timeout || continuous_bad_accel_hgt)) { if (hgt_fusion_timeout || continuous_bad_accel_hgt) {
// boolean that indicates we will do a height reset // boolean that indicates we will do a height reset
bool reset_height = false; bool reset_height = false;