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EKF: Don't use delayed data to start EV aiding

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This commit is contained in:
Paul Riseborough 2016-03-20 21:54:12 +11:00
parent 25f1d1d766
commit 37a09c61bc
1 changed files with 1 additions and 1 deletions
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2
EKF/control.cpp
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@ -59,7 +59,7 @@ void Ekf::controlFusionModes()
// external vision position aiding selection logic
if ((_params.fusion_mode & MASK_USE_EVPOS) && !_control_status.flags.ev_pos && _control_status.flags.tilt_align && _control_status.flags.yaw_align) {
// check for a exernal vision measurement that has fallen behind the fusion time horizon
if (_ext_vision_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_ev_sample_delayed)) {
if (_time_last_imu - _time_last_ext_vision < 2 * EV_MAX_INTERVAL) {
// turn on use of external vision measurements for position
_control_status.flags.ev_pos = true;
// reset the position, height and velocity