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ekf2: use local scope for control mask variable

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Paul Riseborough
2017-12-08 08:43:47 +11:00
committed by Lorenz Meier
parent b812f95a77
commit 324c5151e7
1 changed files with 3 additions and 2 deletions
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src/modules/ekf2/ekf2_main.cpp
+3 -2
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@@ -162,7 +162,6 @@ private:
0.52f; ///< Maximum permissible yaw innovation to pass pre-flight checks when not aiding inertial nav using NE frame observations (rad) 0.52f; ///< Maximum permissible yaw innovation to pass pre-flight checks when not aiding inertial nav using NE frame observations (rad)
const float _vel_innov_spike_lim = 2.0f * _vel_innov_test_lim; ///< preflight velocity innovation spike limit (m/sec) const float _vel_innov_spike_lim = 2.0f * _vel_innov_test_lim; ///< preflight velocity innovation spike limit (m/sec)
const float _hgt_innov_spike_lim = 2.0f * _hgt_innov_test_lim; ///< preflight position innovation spike limit (m) const float _hgt_innov_spike_lim = 2.0f * _hgt_innov_test_lim; ///< preflight position innovation spike limit (m)
filter_control_status_u _ekf_control_mask; ///< Integer mask used by ekf control status
orb_advert_t _att_pub{nullptr}; orb_advert_t _att_pub{nullptr};
orb_advert_t _wind_pub{nullptr}; orb_advert_t _wind_pub{nullptr};
@@ -1269,10 +1268,12 @@ void Ekf2::run()
// set the max allowed yaw innovaton depending on whether we are not aiding navigation using // set the max allowed yaw innovaton depending on whether we are not aiding navigation using
// observations in the NE reference frame. // observations in the NE reference frame.
float yaw_test_limit; filter_control_status_u _ekf_control_mask;
_ekf.get_control_mode(&_ekf_control_mask.value); _ekf.get_control_mode(&_ekf_control_mask.value);
bool doing_ne_aiding = _ekf_control_mask.flags.gps || _ekf_control_mask.flags.ev_pos; bool doing_ne_aiding = _ekf_control_mask.flags.gps || _ekf_control_mask.flags.ev_pos;
float yaw_test_limit;
if (doing_ne_aiding) { if (doing_ne_aiding) {
// use a smaller tolerance when doing NE inertial frame aiding // use a smaller tolerance when doing NE inertial frame aiding
yaw_test_limit = _nav_yaw_innov_test_lim; yaw_test_limit = _nav_yaw_innov_test_lim;