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Merge pull request #1065 from ggregory8/vision_estimate

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Fix to allow filter correction with vision position estimate
This commit is contained in:
Lorenz Meier
2014-06-22 11:49:06 +02:00
parent 57a7e76406 78b7ba33a5
commit 5c6a541128
1 changed files with 2 additions and 2 deletions
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src/modules/position_estimator_inav/position_estimator_inav_main.c
+2 -2
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@@ -781,8 +781,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
epv += 0.005 * dt; // add 1m to EPV each 200s (baro drift)
/* use GPS if it's valid and reference position initialized */
bool use_gps_xy = ref_inited && gps_valid && params.w_xy_gps_p > MIN_VALID_W;
bool use_gps_z = ref_inited && gps_valid && params.w_z_gps_p > MIN_VALID_W;
bool use_gps_xy = (ref_inited && gps_valid && params.w_xy_gps_p > MIN_VALID_W) || vision_valid;
bool use_gps_z = (ref_inited && gps_valid && params.w_z_gps_p > MIN_VALID_W) || vision_valid;
/* use flow if it's valid and (accurate or no GPS available) */
bool use_flow = flow_valid && (flow_accurate || !use_gps_xy);