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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/ekf.cpp
+1 -1
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@@ -224,7 +224,7 @@ bool Ekf::initialiseFilter(void)
void Ekf::predictState()
{
if (!_earth_rate_initialised) {
if (_gps_initialised) {
if (_NED_origin_initialised) {
calcEarthRateNED(_earth_rate_NED, _pos_ref.lat_rad);
_earth_rate_initialised = true;
}