From 19074fdd9ef713aa6ca87d12599c0f4972547a9a Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Fri, 20 Oct 2017 11:11:50 +1100 Subject: [PATCH] EKF: Use consistent time limit for inertial dead reckoning test --- EKF/ekf_helper.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/EKF/ekf_helper.cpp b/EKF/ekf_helper.cpp index 466b48a8fb..f9305acb61 100644 --- a/EKF/ekf_helper.cpp +++ b/EKF/ekf_helper.cpp @@ -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; }