Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-22 14:24:21 +08:00
Code Issues Actions 8 Packages Projects Releases Wiki Activity

EKF: Remove unnecessary initialisation

Browse Source
This commit is contained in:
Paul Riseborough
2021-02-05 18:41:17 +11:00
committed by Paul Riseborough
parent 6f664abc4a
commit 602e65146c
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/vel_pos_fusion.cpp
+1 -1
View File
@@ -85,7 +85,7 @@ bool Ekf::fuseVerticalVelocity(const Vector3f &innov, const Vector2f &innov_gate
// if there is bad vertical acceleration data, then don't reject measurement,
// but limit innovation to prevent spikes that could destabilise the filter
float innovation = innov(2);
float innovation;
if (_bad_vert_accel_detected && !innov_check_pass) {
const float innov_limit = innov_gate(1) * sqrtf(innov_var(2));
innovation = math::constrain(innov(2), -innov_limit, innov_limit);