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EKF: Prevent timestamp jitter failing GPS data arrival check (#462)

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This fixes a error condition that occurs if _time_last_gps is greater than _time_last_imu.
By checking time stamps at the fusion time horizon, we guarantee that this cannot happen because all observations must have a time stamp smaller or equal to _imu_sample_delayed.time_us before they are retrieved from the buffers.
This commit is contained in:
Paul Riseborough
2018-06-15 16:03:54 +10:00
committed by GitHub
parent 4ae8242c35
commit 1a1106878d
1 changed files with 1 additions and 1 deletions
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EKF/control.cpp
+1 -1
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@@ -612,7 +612,7 @@ void Ekf::controlGpsFusion()
_hvelInnovGate = fmaxf(_params.vel_innov_gate, 1.0f);
}
} else if (_control_status.flags.gps && (_time_last_imu - _time_last_gps > (uint64_t)10e6)) {
} else if (_control_status.flags.gps && (_imu_sample_delayed.time_us - _gps_sample_delayed.time_us > (uint64_t)10e6)) {
_control_status.flags.gps = false;
ECL_WARN("EKF GPS data stopped");
}