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EKF: Enable height source to be selected independent of EV aiding

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This commit is contained in:
Paul Riseborough
2016-05-27 13:14:52 +10:00
parent 00bada8f25
commit 1b6c5bbafd
5 changed files with 37 additions and 16 deletions
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EKF/ekf.cpp
+2 -6
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@@ -423,11 +423,7 @@ bool Ekf::initialiseFilter(void)
// set the default height source from the adjustable parameter
if (_hgt_counter == 0) {
if (_params.fusion_mode & MASK_USE_EVPOS) {
_primary_hgt_source = VDIST_SENSOR_EV;
} else {
_primary_hgt_source = _params.vdist_sensor_type;
}
_primary_hgt_source = _params.vdist_sensor_type;
}
if (_primary_hgt_source == VDIST_SENSOR_RANGE) {
@@ -447,7 +443,7 @@ bool Ekf::initialiseFilter(void)
}
} else if (_primary_hgt_source == VDIST_SENSOR_BARO || _primary_hgt_source == VDIST_SENSOR_GPS || _primary_hgt_source == VDIST_SENSOR_EV) {
// if the user parameter specifies use of GPS for height we use baro height initially and switch to GPS
// if the user parameter specifies use of GPS or external vision (EV) for height we use baro height initially and switch to GPS or EV
// later when it passes checks.
if (_baro_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_baro_sample_delayed)) {
if (_hgt_counter == 0 && _baro_sample_delayed.time_us != 0) {