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

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bresch
2022-11-30 00:22:15 -05:00
committed by Daniel Agar
parent 0c923bda4e
commit 5d7faefa84
2 changed files with 4 additions and 2 deletions
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src/modules/ekf2/EKF/estimator_interface.cpp
+4 -1
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@@ -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 (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; gpsSample gps_sample_new;
gps_sample_new.time_us = time_us; gps_sample_new.time_us = time_us;
gps_sample_new.vel = gps.vel_ned; gps_sample_new.vel = gps.vel_ned;
_gps_speed_valid = gps.vel_ned_valid;
gps_sample_new.sacc = gps.sacc; gps_sample_new.sacc = gps.sacc;
gps_sample_new.hacc = gps.eph; gps_sample_new.hacc = gps.eph;
gps_sample_new.vacc = gps.epv; gps_sample_new.vacc = gps.epv;
src/modules/ekf2/EKF/estimator_interface.h
-1
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@@ -330,7 +330,6 @@ protected:
bool _initialised{false}; // true if the ekf interface instance (data buffering) is initialized bool _initialised{false}; // true if the ekf interface instance (data buffering) is initialized
bool _NED_origin_initialised{false}; bool _NED_origin_initialised{false};
bool _gps_speed_valid{false};
float _gps_origin_eph{0.0f}; // horizontal position uncertainty of the GPS origin float _gps_origin_eph{0.0f}; // horizontal position uncertainty of the GPS origin
float _gps_origin_epv{0.0f}; // vertical position uncertainty of the GPS origin float _gps_origin_epv{0.0f}; // vertical position uncertainty of the GPS origin
MapProjection _pos_ref{}; // Contains WGS-84 position latitude and longitude of the EKF origin MapProjection _pos_ref{}; // Contains WGS-84 position latitude and longitude of the EKF origin