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added ev_pos flag check to valid_lpos, disable fake gps when ev_pos is valid

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Nic
2016-05-17 21:07:04 -07:00
parent 50ba26a434
commit 1b16f3575a
2 changed files with 4 additions and 2 deletions
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EKF/ekf.cpp
+1 -1
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@@ -332,7 +332,7 @@ bool Ekf::update()
// if we aren't doing any aiding, fake GPS measurements at the last known position to constrain drift
// Coincide fake measurements with baro data for efficiency with a minimum fusion rate of 5Hz
if (!_control_status.flags.gps && !_control_status.flags.opt_flow
if (!_control_status.flags.gps && !_control_status.flags.opt_flow && !_control_status.flags.ev_pos
&& ((_time_last_imu - _time_last_fake_gps > 2e5) || _fuse_height)) {
_fuse_pos = true;
_time_last_fake_gps = _time_last_imu;
EKF/estimator_interface.cpp
+3 -1
View File
@@ -393,5 +393,7 @@ void EstimatorInterface::unallocate_buffers()
bool EstimatorInterface::local_position_is_valid()
{
// return true if the position estimate is valid
return (((_time_last_imu - _time_last_optflow) < 5e6) && _control_status.flags.opt_flow) || global_position_is_valid();
return (((_time_last_imu - _time_last_optflow) < 5e6) && _control_status.flags.opt_flow) ||
(((_time_last_imu - _time_last_ext_vision) < 5e6) && _control_status.flags.ev_pos) ||
global_position_is_valid();
}