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EKF: Add persistence criteria to GPS fail check

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Paul Riseborough
2018-05-08 08:41:15 +10:00
parent 67d71ca406
commit 4ab78230e6
3 changed files with 5 additions and 1 deletions
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EKF/gps_checks.cpp
+2
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@@ -228,6 +228,8 @@ bool Ekf::gps_is_good(struct gps_message *gps)
(_gps_check_fail_status.flags.vspeed && (_params.gps_check_mask & MASK_GPS_VSPD))
) {
_last_gps_fail_us = _time_last_imu;
} else {
_last_gps_pass_us = _time_last_imu;
}
// continuous period without fail of 10 seconds required to return a healthy status