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EKF: Fix GPS validity time check error

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Paul Riseborough 2018-05-15 10:07:57 +10:00 committed by Lorenz Meier
parent 0160aaa568
commit 092a8d8f21
1 changed files with 3 additions and 2 deletions
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5
EKF/control.cpp
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@ -1393,11 +1393,12 @@ void Ekf::controlMagFusion()
}
// If optical flow is the only aiding source and GPS checks are failing, then assume that we are operating
// indoors and the magnetometer is unreliable.
// indoors and the magnetometer is unreliable. Becasue the optical flow sensor is body fixed, absolute yaw
// wrt North is not required for navigation and it is safer not to use the magnetometer.
if (_control_status.flags.opt_flow
&& !_control_status.flags.gps
&& !_control_status.flags.ev_pos
&& ((_last_gps_fail_us - _time_last_imu) < 5E6)) {
&& ((_time_last_imu - _last_gps_pass_us) > 5E6)) {
_mag_use_inhibit = true;
} else {
_mag_use_inhibit = false;