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ekf2: fix silent pass of preflt heading check if no heading src active

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This commit is contained in:
Marco Hauswirth
2026-02-26 22:33:46 +01:00
committed by Silvan Fuhrer
parent 11378639ae
commit 57a380d8ec
2 changed files with 2 additions and 2 deletions
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src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
+1 -1
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@@ -695,7 +695,7 @@ void EstimatorChecks::setModeRequirementFlags(const Context &context, bool pre_f
bool v_xy_valid = lpos.v_xy_valid; bool v_xy_valid = lpos.v_xy_valid;
if (!context.isArmed()) { if (!context.isArmed()) {
if (pre_flt_fail_innov_heading || pre_flt_fail_innov_pos_horiz) { if (pre_flt_fail_innov_pos_horiz) {
xy_valid = false; xy_valid = false;
} }
src/modules/ekf2/EKF2.cpp
+1 -1
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@@ -1853,7 +1853,7 @@ void EKF2::PublishStatus(const hrt_abstime &timestamp)
status.time_slip = _last_time_slip_us * 1e-6f; status.time_slip = _last_time_slip_us * 1e-6f;
static constexpr float kMinTestRatioPreflight = 0.5f; static constexpr float kMinTestRatioPreflight = 0.5f;
status.pre_flt_fail_innov_heading = (kMinTestRatioPreflight < status.hdg_test_ratio); status.pre_flt_fail_innov_heading = (kMinTestRatioPreflight < status.hdg_test_ratio) || !_ekf.control_status_flags().yaw_align;
status.pre_flt_fail_innov_height = (kMinTestRatioPreflight < status.hgt_test_ratio); status.pre_flt_fail_innov_height = (kMinTestRatioPreflight < status.hgt_test_ratio);
status.pre_flt_fail_innov_pos_horiz = (kMinTestRatioPreflight < status.pos_test_ratio); status.pre_flt_fail_innov_pos_horiz = (kMinTestRatioPreflight < status.pos_test_ratio);
status.pre_flt_fail_innov_vel_horiz = (kMinTestRatioPreflight < vel_xy_test_ratio); status.pre_flt_fail_innov_vel_horiz = (kMinTestRatioPreflight < vel_xy_test_ratio);