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EKF: Use consistent time limit for inertial dead reckoning test

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Paul Riseborough
2017-10-20 14:44:38 +11:00
parent 55a2dc94df
commit 19074fdd9e
1 changed files with 3 additions and 3 deletions
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EKF/ekf_helper.cpp
+3 -3
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@@ -1153,9 +1153,9 @@ bool Ekf::global_position_is_valid()
bool Ekf::inertial_dead_reckoning()
{
bool velPosAiding = (_control_status.flags.gps || _control_status.flags.ev_pos)
&& ((_time_last_imu - _time_last_pos_fuse <= 1E6) || (_time_last_imu - _time_last_vel_fuse <= 1E6));
bool optFlowAiding = _control_status.flags.opt_flow && (_time_last_imu - _time_last_of_fuse <= 1E6);
bool airDataAiding = _control_status.flags.wind && (_time_last_imu - _time_last_arsp_fuse <= 1E6) && (_time_last_imu - _time_last_beta_fuse <= 1E6);
&& ((_time_last_imu - _time_last_pos_fuse <= _params.no_aid_timeout_max) || (_time_last_imu - _time_last_vel_fuse <= _params.no_aid_timeout_max));
bool optFlowAiding = _control_status.flags.opt_flow && (_time_last_imu - _time_last_of_fuse <= _params.no_aid_timeout_max);
bool airDataAiding = _control_status.flags.wind && (_time_last_imu - _time_last_arsp_fuse <= _params.no_aid_timeout_max) && (_time_last_imu - _time_last_beta_fuse <= _params.no_aid_timeout_max);
return !velPosAiding && !optFlowAiding && !airDataAiding;
}