fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-28 01:33:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

EKF: Add protection for undefined GPS antenna array heading offset

Browse Source
This commit is contained in:
Paul Riseborough
2018-09-19 06:32:43 +10:00
committed by Paul Riseborough
parent d1f3f4c916
commit 6847acb72e
1 changed files with 5 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/estimator_interface.cpp
+5 -1
View File
@@ -221,7 +221,11 @@ void EstimatorInterface::setGpsData(uint64_t time_usec, struct gps_message *gps)
gps_sample_new.hgt = (float)gps->alt * 1e-3f; gps_sample_new.hgt = (float)gps->alt * 1e-3f;
gps_sample_new.yaw = gps->yaw; gps_sample_new.yaw = gps->yaw;
_gps_yaw_offset = gps->yaw_offset; if (ISFINITE(gps->yaw_offset)) {
_gps_yaw_offset = gps->yaw_offset;
} else {
_gps_yaw_offset = 0.0f;
}
// Only calculate the relative position if the WGS-84 location of the origin is set // Only calculate the relative position if the WGS-84 location of the origin is set
if (collect_gps(time_usec, gps)) { if (collect_gps(time_usec, gps)) {