yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 09:28:58 +00:00
Code Issues Packages Projects Releases Wiki Activity

commander: strengthen pre-flight fail checking

Browse Source 
The commander checks use instantaneous values which are vulnerable to false negatives  or positives with noisy data or transient faults.

This patch checks the estimators published pre flight check status which is based on persistent checks using filtered data.
This commit is contained in:
Paul Riseborough
2017-11-24 12:19:41 +11:00
committed by Lorenz Meier
parent fc80be0917
commit ddfe077f7c
1 changed files with 6 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
src/modules/commander/PreflightCheck.cpp
View File

@@ -502,6 +502,12 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, bool optional, bool report_
goto out;
}
// Check if preflight check perfomred by estimator has failed
if (status.pre_flt_fail) {
success = false;
goto out;
}
// check vertical position innovation test ratio
param_get(param_find("COM_ARM_EKF_HGT"), &test_limit);
if (status.hgt_test_ratio > test_limit) {