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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
2017-04-12 13:11:34 +02:00
committed by Lorenz Meier
parent a1a5734443
commit 0d7e7e9d81
3 changed files with 18 additions and 11 deletions
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EKF/estimator_interface.h
+3 -1
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@@ -328,7 +328,9 @@ protected:
bool _gps_speed_valid;
float _gps_origin_eph; // horizontal position uncertainty of the GPS origin
float _gps_origin_epv; // vertical position uncertainty of the GPS origin
struct map_projection_reference_s _pos_ref; // Contains WGS-84 position latitude and longitude (radians)
struct map_projection_reference_s _pos_ref; // Contains WGS-84 position latitude and longitude (radians) of the EKF origin
struct map_projection_reference_s _gps_pos_prev; // Contains WGS-84 position latitude and longitude (radians) of the previous GPS message
float _gps_alt_prev; // height from the previous GPS message (m)
// innovation consistency check monitoring ratios
float _yaw_test_ratio; // yaw innovation consistency check ratio