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EKF: Don't use EKF origin in GPS drift check calculation

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The GPS drift calculations need to be able to run independently of the EKF origin.
This commit is contained in:
Paul Riseborough
2017-04-07 20:04:23 +10:00
committed by Lorenz Meier
parent a1a5734443
commit 0d7e7e9d81
3 changed files with 18 additions and 11 deletions
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EKF/estimator_interface.cpp
+2
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@@ -67,6 +67,8 @@ EstimatorInterface::EstimatorInterface():
_gps_origin_eph(0.0f),
_gps_origin_epv(0.0f),
_pos_ref{},
_gps_pos_prev{},
_gps_alt_prev(0.0f),
_yaw_test_ratio(0.0f),
_mag_test_ratio{},
_vel_pos_test_ratio{},