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| author | Johan Jansen <jnsn.johan@gmail.com> | 2015-01-06 11:46:59 +0100 |
|---|---|---|
| committer | Johan Jansen <jnsn.johan@gmail.com> | 2015-01-15 14:37:50 +0100 |
| commit | cffba8440e056b71a01003a0d90a7e6f4cffd648 (patch) | |
| tree | 99e0bcddf63b9f594099349286aa24806b530906 /src/modules/ekf_att_pos_estimator | |
| parent | 642063c3b8fdcd3f5e748666d1bb0412ea434b5f (diff) | |
| download | px4-firmware-cffba8440e056b71a01003a0d90a7e6f4cffd648.tar.gz px4-firmware-cffba8440e056b71a01003a0d90a7e6f4cffd648.tar.bz2 px4-firmware-cffba8440e056b71a01003a0d90a7e6f4cffd648.zip | |
EKF: Removed the fixed wing land detector in the EKF module
Diffstat (limited to 'src/modules/ekf_att_pos_estimator')
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp | 25 |
1 files changed, 1 insertions, 24 deletions
diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp index c41777968..866e5dc84 100644 --- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp +++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp @@ -290,10 +290,6 @@ private: AttPosEKF *_ekf; - float _velocity_xy_filtered; - float _velocity_z_filtered; - float _airspeed_filtered; - /** * Update our local parameter cache. */ @@ -422,10 +418,7 @@ FixedwingEstimator::FixedwingEstimator() : _mavlink_fd(-1), _parameters{}, _parameter_handles{}, - _ekf(nullptr), - _velocity_xy_filtered(0.0f), - _velocity_z_filtered(0.0f), - _airspeed_filtered(0.0f) + _ekf(nullptr) { _last_run = hrt_absolute_time(); @@ -1434,22 +1427,6 @@ FixedwingEstimator::task_main() _local_pos.v_z_valid = true; _local_pos.xy_global = true; - _velocity_xy_filtered = 0.95f*_velocity_xy_filtered + 0.05f*sqrtf(_local_pos.vx*_local_pos.vx + _local_pos.vy*_local_pos.vy); - _velocity_z_filtered = 0.95f*_velocity_z_filtered + 0.05f*fabsf(_local_pos.vz); - _airspeed_filtered = 0.95f*_airspeed_filtered + 0.05f*_airspeed.true_airspeed_m_s; - - - /* crude land detector for fixedwing only, - * TODO: adapt so that it works for both, maybe move to another location - */ - if (_velocity_xy_filtered < 5 - && _velocity_z_filtered < 10 - && _airspeed_filtered < 10) { - _local_pos.landed = true; - } else { - _local_pos.landed = false; - } - _local_pos.z_global = false; _local_pos.yaw = _att.yaw; |