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Code Issues Releases Activity

LP-534 MagStatus trouble: disable the corrected mag debug from EKF

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This commit is contained in:
Laurent Lalanne 2017-06-19 12:10:06 +02:00
parent c2a7582bd9
commit 1b624d7de3
1 changed files with 11 additions and 9 deletions
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20
flight/modules/StateEstimation/filterekf.c
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@ -223,7 +223,6 @@ static filterResult filter(stateFilter *self, stateEstimation *state)
UNSET_MASK(state->updated, SENSORUPDATES_vel);
UNSET_MASK(state->updated, SENSORUPDATES_attitude);
UNSET_MASK(state->updated, SENSORUPDATES_gyro);
UNSET_MASK(state->updated, SENSORUPDATES_mag);
return FILTERRESULT_OK;
}
@ -387,15 +386,18 @@ static filterResult filter(stateFilter *self, stateEstimation *state)
local_down[2] *= MagStrength;
rot_mult(R, local_down, this->work.mag);
}
// From Eric: "exporting it in MagState was meant for debugging, but I think it makes a
// lot of sense to have a "corrected" magnetometer reading available in the system."
// TODO: Should move above calc to filtermag, updating from here cause trouble with the state->MagStatus (LP-534)
// debug rotated mags
state->mag[0] = this->work.mag[0];
state->mag[1] = this->work.mag[1];
state->mag[2] = this->work.mag[2];
state->updated |= SENSORUPDATES_mag;
} else {
// mag state is delayed until EKF processed it, allows overriding/debugging magnetometer estimate
UNSET_MASK(state->updated, SENSORUPDATES_mag);
}
// state->mag[0] = this->work.mag[0];
// state->mag[1] = this->work.mag[1];
// state->mag[2] = this->work.mag[2];
// state->updated |= SENSORUPDATES_mag;
} // else {
// mag state is delayed until EKF processed it, allows overriding/debugging magnetometer estimate
// UNSET_MASK(state->updated, SENSORUPDATES_mag);
// }
if (IS_SET(this->work.updated, SENSORUPDATES_baro)) {
sensors |= BARO_SENSOR;