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kamilritz
2020-07-16 18:25:06 +02:00
committed by Mathieu Bresciani
parent 01515b9a9c
commit 5ef18f8823
2 changed files with 3 additions and 3 deletions
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EKF/gps_checks.cpp
+1 -1
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@@ -134,7 +134,7 @@ bool Ekf::gps_is_good(const gps_message &gps)
_gps_check_fail_status.flags.sacc = (gps.sacc > _params.req_sacc);
// check if GPS quality is degraded
_gps_error_norm = fmaxf((gps.eph / _params.req_hacc) , (gps.epv / _params.req_vacc));
_gps_error_norm = fmaxf((gps.eph / _params.req_hacc), (gps.epv / _params.req_vacc));
_gps_error_norm = fmaxf(_gps_error_norm , (gps.sacc / _params.req_sacc));
// Calculate time lapsed since last update, limit to prevent numerical errors and calculate a lowpass filter coefficient