fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 09:13:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: add GNSS yaw max interval

Browse Source 
yaw data usually comes at lower rate than vel/pos
This commit is contained in:
bresch
2022-11-14 10:45:23 -05:00
committed by Daniel Agar
parent 9834c7917b
commit 06702da003
3 changed files with 9 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF/gnss_height_control.cpp
+2 -2
View File
@@ -92,7 +92,7 @@ void Ekf::controlGnssHeightFusion(const gpsSample &gps_sample)
&& _gps_checks_passed;
const bool starting_conditions_passing = continuing_conditions_passing
&& isNewestSampleRecent(_time_last_gps_buffer_push, 2 * GPS_MAX_INTERVAL)
&& isNewestSampleRecent(_time_last_gps_buffer_push, 2 * GNSS_MAX_INTERVAL)
&& _gps_checks_passed
&& gps_checks_passing
&& !gps_checks_failing;
@@ -158,7 +158,7 @@ void Ekf::controlGnssHeightFusion(const gpsSample &gps_sample)
}
} else if (_control_status.flags.gps_hgt
&& !isNewestSampleRecent(_time_last_gps_buffer_push, 2 * GPS_MAX_INTERVAL)) {
&& !isNewestSampleRecent(_time_last_gps_buffer_push, 2 * GNSS_MAX_INTERVAL)) {
// No data anymore. Stop until it comes back.
ECL_WARN("stopping %s height fusion, no data", HGT_SRC_NAME);
stopGpsHgtFusion();