dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

EKF2 set zero unused estimator_status fields

This commit is contained in:
Daniel Agar 2018-01-12 15:49:02 -05:00 committed by Lorenz Meier
parent f47d0c8f8c
commit 7b1b255158
1 changed files with 3 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
src/modules/ekf2/ekf2_main.cpp
View File

@ -1102,6 +1102,9 @@ void Ekf2::run()
_ekf.get_ekf_soln_status(&status.solution_status_flags); _ekf.get_ekf_soln_status(&status.solution_status_flags);
_ekf.get_imu_vibe_metrics(status.vibe); _ekf.get_imu_vibe_metrics(status.vibe);
status.time_slip = _last_time_slip_us / 1e6f; status.time_slip = _last_time_slip_us / 1e6f;
status.nan_flags = 0.0f; // unused
status.health_flags = 0.0f; // unused
status.timeout_flags = 0.0f; // unused
status.pre_flt_fail = _preflt_fail; status.pre_flt_fail = _preflt_fail;
if (_estimator_status_pub == nullptr) { if (_estimator_status_pub == nullptr) {