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ekf2: remove landed flag and use control_status directly

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Daniel Agar
2020-11-01 09:37:08 -05:00
parent 89ab6a5dbf
commit 26de630dc5
2 changed files with 1 additions and 2 deletions
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src/modules/ekf2/EKF2.cpp
+1 -1
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@@ -1413,7 +1413,7 @@ void EKF2::UpdateMagCalibration(const hrt_abstime &timestamp)
_ekf.get_filter_fault_status(&fault_status.value); _ekf.get_filter_fault_status(&fault_status.value);
// Check if conditions are OK for learning of magnetometer bias values // Check if conditions are OK for learning of magnetometer bias values
if (!_landed && _armed && if (control_status.flags.in_air && _armed &&
!fault_status.value && // there are no filter faults !fault_status.value && // there are no filter faults
control_status.flags.mag_3D) { // the EKF is operating in the correct mode control_status.flags.mag_3D) { // the EKF is operating in the correct mode
src/modules/ekf2/EKF2.hpp
-1
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@@ -227,7 +227,6 @@ private:
bool _distance_sensor_selected{false}; // because we can have several distance sensor instances with different orientations bool _distance_sensor_selected{false}; // because we can have several distance sensor instances with different orientations
bool _armed{false}; bool _armed{false};
bool _standby{false}; // standby arming state bool _standby{false}; // standby arming state
bool _landed{true};
bool _in_ground_effect{false}; bool _in_ground_effect{false};
uORB::PublicationMulti<ekf2_timestamps_s> _ekf2_timestamps_pub{ORB_ID(ekf2_timestamps)}; uORB::PublicationMulti<ekf2_timestamps_s> _ekf2_timestamps_pub{ORB_ID(ekf2_timestamps)};