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Enable vision velocity fusion

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kamilritz
2019-09-24 07:48:46 +10:00
committed by Paul Riseborough
parent 149233a9ab
commit 3e8139ff9f
5 changed files with 87 additions and 46 deletions
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EKF/ekf_helper.cpp
+1 -1
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@@ -1336,7 +1336,7 @@ bool Ekf::global_position_is_valid()
// return true if we are totally reliant on inertial dead-reckoning for position
void Ekf::update_deadreckoning_status()
{
bool velPosAiding = (_control_status.flags.gps || _control_status.flags.ev_pos)
bool velPosAiding = (_control_status.flags.gps || _control_status.flags.ev_pos || _control_status.flags.ev_vel)
&& (((_time_last_imu - _time_last_pos_fuse) <= _params.no_aid_timeout_max)
|| ((_time_last_imu - _time_last_vel_fuse) <= _params.no_aid_timeout_max)
|| ((_time_last_imu - _time_last_delpos_fuse) <= _params.no_aid_timeout_max));