ekf2: do not use gnss data when no lock

2026-07-13 06:30:35 +08:00 · 2022-11-30 13:38:17 +01:00
parent 65577a4f89
commit 5155346d60
1 changed files with 1 additions and 1 deletions
@@ -151,7 +151,7 @@ void EstimatorInterface::setGpsData(const gpsMessage &gps)

 	if (time_us >= static_cast<int64_t>(_gps_buffer->get_newest().time_us + _min_obs_interval_us)) {

-		if (!gps.vel_ned_valid) {
+		if (!gps.vel_ned_valid || (gps.fix_type == 0)) {
 			return;
 		}