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EKF: additional GPS check logic

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Improve naming of NED origin initialisation status
Add check for GPS solution type
Use GPS checks when regaining GPs in-flight
This commit is contained in:
Paul Riseborough
2016-01-30 12:21:39 -08:00
committed by bugobliterator
parent a779d45cd0
commit 466a104534
6 changed files with 41 additions and 38 deletions
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EKF/control.cpp
+1 -1
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@@ -52,7 +52,7 @@ void Ekf::controlFusionModes()
// GPS fusion mode selection logic
// To start use GPS we need angular alignment completed, the local NED origin set and fresh GPS data
if (!_control_status.flags.gps) {
if (_control_status.flags.angle_align && (_time_last_imu - _time_last_gps) < 5e5 && _gps_initialised) {
if (_control_status.flags.angle_align && (_time_last_imu - _time_last_gps) < 5e5 && _NED_origin_initialised && (_time_last_imu - _last_gps_fail_us > 5e6)) {
_control_status.flags.gps = true;
resetPosition();
resetVelocity();