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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-06-12 15:57:13 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-06-12 15:57:13 +0200 |
| commit | a419a2ebf37ba0fafd0b95732a0992d3d7425689 (patch) | |
| tree | e213d23d138656b05c39b680dafee9f730d08af1 /src/modules/ekf_att_pos_estimator/estimator_23states.cpp | |
| parent | 3685ec5c975bf5a7f39f726fe07b99f1c26350f8 (diff) | |
| download | px4-firmware-a419a2ebf37ba0fafd0b95732a0992d3d7425689.tar.gz px4-firmware-a419a2ebf37ba0fafd0b95732a0992d3d7425689.tar.bz2 px4-firmware-a419a2ebf37ba0fafd0b95732a0992d3d7425689.zip | |
Report excessive covariances
Diffstat (limited to 'src/modules/ekf_att_pos_estimator/estimator_23states.cpp')
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/estimator_23states.cpp | 6 |
1 files changed, 6 insertions, 0 deletions
diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp index 352d9a0ce..c2282fbb9 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp +++ b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp @@ -2376,6 +2376,12 @@ int AttPosEKF::CheckAndBound() ret = 5; } + if (current_ekf_state.covariancesExcessive) { + FillErrorReport(&last_ekf_error); + current_ekf_state.covariancesExcessive = false; + ret = 6; + } + if (ret) { ekfDiverged = true; } |