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Merge branch 'master' into pr-ekfOptFlowGyro

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Paul Riseborough
2018-06-18 09:36:16 +10:00
committed by GitHub
parent c8af315aa7 1a1106878d
commit 1cba257bac
5 changed files with 56 additions and 74 deletions
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EKF/control.cpp
+1 -1
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@@ -635,7 +635,7 @@ 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");
}