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EKF: prevent unwanted GPS use

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This commit is contained in:
Paul Riseborough 2016-05-24 07:55:09 +10:00
parent c8c2d6d963
commit 5a40aa2c1a
1 changed files with 2 additions and 1 deletions
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3
EKF/estimator_interface.cpp
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@ -144,7 +144,8 @@ void EstimatorInterface::setMagData(uint64_t time_usec, float *data)
void EstimatorInterface::setGpsData(uint64_t time_usec, struct gps_message *gps)
{
// Limit the GPS data rate to a maximum of 14Hz
if (time_usec - _time_last_gps > 65000) {
bool need_gps = (_params.fusion_mode & MASK_USE_GPS) || (_params.vdist_sensor_type == VDIST_SENSOR_GPS);
if (time_usec - _time_last_gps > 65000 && need_gps) {
gpsSample gps_sample_new = {};
gps_sample_new.time_us = gps->time_usec - _params.gps_delay_ms * 1000;