fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: return validity based on dead-reckoning time only

Browse Source
This commit is contained in:
bresch 2024-08-19 10:29:01 +02:00 committed by Mathieu Bresciani
parent cf941b18df
commit 64b0586dad
1 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
src/modules/ekf2/EKF/ekf.h
View File

@ -294,17 +294,17 @@ public:
// return true if the local position estimate is valid
bool local_position_is_valid() const
{
return (!_horizontal_deadreckon_time_exceeded && !_control_status.flags.fake_pos);
return !_horizontal_deadreckon_time_exceeded;
}
bool isLocalVerticalPositionValid() const
{
return !_vertical_position_deadreckon_time_exceeded && !_control_status.flags.fake_hgt;
return !_vertical_position_deadreckon_time_exceeded;
}
bool isLocalVerticalVelocityValid() const
{
return !_vertical_velocity_deadreckon_time_exceeded && !_control_status.flags.fake_hgt;
return !_vertical_velocity_deadreckon_time_exceeded;
}
bool isYawFinalAlignComplete() const