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estimator_innovations: remove unimplemented fake vel & pos fields 

- easy to readd if and when they're needed
This commit is contained in:
Daniel Agar 2020-11-01 09:47:16 -05:00
parent 880dc6accd
commit 5d7ea62190
2 changed files with 1 additions and 12 deletions
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6
msg/estimator_innovations.msg
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@ -13,12 +13,6 @@ float32 ev_vvel # vertical external vision velocity innovation (m/sec) and in
float32[2] ev_hpos # horizontal external vision position innovation (m) and innovation variance (m**2)
float32 ev_vpos # vertical external vision position innovation (m) and innovation variance (m**2)
# Fake Position and Velocity
float32[2] fake_hvel # fake horizontal velocity innovation (m/s) and innovation variance ((m/s)**2)
float32 fake_vvel # fake vertical velocity innovation (m/s) and innovation variance ((m/s)**2)
float32[2] fake_hpos # fake horizontal position innovation (m) and innovation variance (m**2)
float32 fake_vpos # fake vertical position innovation (m) and innovation variance (m**2)
# Height sensors
float32 rng_vpos # range sensor height innovation (m) and innovation variance (m**2)
float32 baro_vpos # barometer height innovation (m) and innovation variance (m**2)

7
src/modules/ekf2/EKF2.cpp
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@ -582,8 +582,7 @@ void EKF2::PublishInnovations(const hrt_abstime &timestamp, const imuSample &imu
_ekf.getHaglInnov(innovations.hagl);
// Not yet supported
innovations.aux_vvel = NAN;
innovations.fake_hpos[0] = innovations.fake_hpos[1] = innovations.fake_vpos = NAN;
innovations.fake_hvel[0] = innovations.fake_hvel[1] = innovations.fake_vvel = NAN;
innovations.timestamp = _replay_mode ? timestamp : hrt_absolute_time();
_estimator_innovations_pub.publish(innovations);
@ -622,8 +621,6 @@ void EKF2::PublishInnovationTestRatios(const hrt_abstime &timestamp)
_ekf.getHaglInnovRatio(test_ratios.hagl);
// Not yet supported
test_ratios.aux_vvel = NAN;
test_ratios.fake_hpos[0] = test_ratios.fake_hpos[1] = test_ratios.fake_vpos = NAN;
test_ratios.fake_hvel[0] = test_ratios.fake_hvel[1] = test_ratios.fake_vvel = NAN;
test_ratios.timestamp = _replay_mode ? timestamp : hrt_absolute_time();
_estimator_innovation_test_ratios_pub.publish(test_ratios);
@ -648,8 +645,6 @@ void EKF2::PublishInnovationVariances(const hrt_abstime &timestamp)
_ekf.getHaglInnovVar(variances.hagl);
// Not yet supported
variances.aux_vvel = NAN;
variances.fake_hpos[0] = variances.fake_hpos[1] = variances.fake_vpos = NAN;
variances.fake_hvel[0] = variances.fake_hvel[1] = variances.fake_vvel = NAN;
variances.timestamp = _replay_mode ? timestamp : hrt_absolute_time();
_estimator_innovation_variances_pub.publish(variances);