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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-06-12 15:28:21 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-06-12 15:28:21 +0200 |
commit | 7983e105bf1aa6b8cf13ed49dac36c4f1b3a034f (patch) | |
tree | c422aef482345f99e3f7deaab8fa78342b86cdf0 /src/modules/ekf_att_pos_estimator/estimator_utilities.h | |
parent | ee34c1681bd8a46c754026f788dadc36aa589bc2 (diff) | |
download | px4-firmware-7983e105bf1aa6b8cf13ed49dac36c4f1b3a034f.tar.gz px4-firmware-7983e105bf1aa6b8cf13ed49dac36c4f1b3a034f.tar.bz2 px4-firmware-7983e105bf1aa6b8cf13ed49dac36c4f1b3a034f.zip |
Much more aggressive reset logic bounding the filter effectively
Diffstat (limited to 'src/modules/ekf_att_pos_estimator/estimator_utilities.h')
-rw-r--r-- | src/modules/ekf_att_pos_estimator/estimator_utilities.h | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/src/modules/ekf_att_pos_estimator/estimator_utilities.h b/src/modules/ekf_att_pos_estimator/estimator_utilities.h index 714dfe623..e5f76d7cd 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_utilities.h +++ b/src/modules/ekf_att_pos_estimator/estimator_utilities.h @@ -46,9 +46,6 @@ Vector3f operator*(Vector3f vecIn1, float sclIn1); void swap_var(float &d1, float &d2); -const unsigned int n_states = 23; -const unsigned int data_buffer_size = 50; - enum GPS_FIX { GPS_FIX_NOFIX = 0, GPS_FIX_2D = 2, @@ -65,7 +62,8 @@ struct ekf_status_report { uint32_t velFailTime; uint32_t posFailTime; uint32_t hgtFailTime; - float states[n_states]; + float states[32]; + unsigned n_states; bool angNaN; bool summedDelVelNaN; bool KHNaN; @@ -74,6 +72,8 @@ struct ekf_status_report { bool covarianceNaN; bool kalmanGainsNaN; bool statesNaN; + bool gyroOffsetsExcessive; + bool covariancesExcessive; }; void ekf_debug(const char *fmt, ...);
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