fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-13 05:20:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: don't add invalid GNSS samples to the buffer

Browse Source
This commit is contained in:
bresch
2022-11-29 16:43:36 +01:00
committed by Daniel Agar
parent 0c923bda4e
commit 5d7faefa84
2 changed files with 4 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF/estimator_interface.cpp
+4 -1
View File
@@ -151,13 +151,16 @@ 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) {
return;
}
gpsSample gps_sample_new;
gps_sample_new.time_us = time_us;
gps_sample_new.vel = gps.vel_ned;
_gps_speed_valid = gps.vel_ned_valid;
gps_sample_new.sacc = gps.sacc;
gps_sample_new.hacc = gps.eph;
gps_sample_new.vacc = gps.epv;