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EKF: rework GPS quality check

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Paul Riseborough
2018-05-18 14:07:22 +10:00
committed by Lorenz Meier
parent 99a80387ed
commit 1cfe845751
1 changed files with 1 additions and 1 deletions
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EKF/control.cpp
+1 -1
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@@ -373,7 +373,7 @@ void Ekf::controlOpticalFlowFusion()
} else { } else {
bool movement_ok = (_imu_sample_delayed.time_us - _time_bad_motion_us) > (uint64_t)5E6; bool movement_ok = (_imu_sample_delayed.time_us - _time_bad_motion_us) > (uint64_t)5E6;
bool bad_gps_aiding = _control_status.flags.gps && _gps_error_norm > gps_err_norm_lim; bool bad_gps_aiding = !_control_status.flags.gps || _gps_error_norm > gps_err_norm_lim;
if (movement_ok || bad_gps_aiding) { if (movement_ok || bad_gps_aiding) {
_inhibit_flow_use = false; _inhibit_flow_use = false;
} }