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EKF: When commencing GPS aiding, don't reset local position and velocity if using optical flow

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Paul Riseborough
2016-03-11 11:03:43 +11:00
parent 26238bc2f5
commit 109e0e6dfc
1 changed files with 6 additions and 3 deletions
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EKF/control.cpp
+6 -3
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@@ -121,12 +121,15 @@ void Ekf::controlFusionModes()
_control_status.flags.yaw_align = resetMagHeading(_mag_sample_delayed.mag); _control_status.flags.yaw_align = resetMagHeading(_mag_sample_delayed.mag);
} }
// If the heading is valid, reset the positon and velocity and start using gps aiding // If the heading is valid start using gps aiding
if (_control_status.flags.yaw_align) { if (_control_status.flags.yaw_align) {
resetPosition();
resetVelocity();
_control_status.flags.gps = true; _control_status.flags.gps = true;
_time_last_gps = _time_last_imu; _time_last_gps = _time_last_imu;
// if we are not already aiding with optical flow, then we need to reset the position and velocity
if (!_control_status.flags.opt_flow) {
_control_status.flags.gps = resetPosition();
_control_status.flags.gps = resetVelocity();
}
} }
} }