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EKF: Update dead-reckoning definition

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Use of air data to navigate should be classified as dead-reckoning because neither ground relative velocity or position is observed directly and errors grow faster.
This commit is contained in:
Paul Riseborough
2017-10-20 10:50:34 +11:00
parent a2dcd5b9b6
commit 59f1c3e19e
1 changed files with 2 additions and 3 deletions
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EKF/control.cpp
+2 -3
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@@ -131,11 +131,10 @@ void Ekf::controlFusionModes()
// Additional data from an external vision sensor can also be fused.
controlExternalVisionFusion();
// report dead reckoning if we are no longer fusing measurements that constrain velocity drift
// report dead reckoning if we are no longer fusing measurements that directly constrain velocity drift
_is_dead_reckoning = (_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_of_fuse > _params.no_aid_timeout_max)
&& ((_time_last_imu - _time_last_arsp_fuse > _params.no_aid_timeout_max) || (_time_last_imu - _time_last_beta_fuse > _params.no_aid_timeout_max));
&& (_time_last_imu - _time_last_of_fuse > _params.no_aid_timeout_max);
}