From 59f1c3e19e70e7fd0a9783971aa5063087f99227 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Fri, 20 Oct 2017 10:50:34 +1100 Subject: [PATCH] EKF: Update dead-reckoning definition 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. --- EKF/control.cpp | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/EKF/control.cpp b/EKF/control.cpp index 9cadcea392..5daa3e92ca 100644 --- a/EKF/control.cpp +++ b/EKF/control.cpp @@ -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); }