fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-19 12:13:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Ekf: centralize GPS height fusion startup

Browse Source
This commit is contained in:
bresch
2020-04-19 12:38:13 +02:00
committed by Mathieu Bresciani
parent 61763544b6
commit 6b64cf0770
4 changed files with 15 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/gps_checks.cpp
+1 -3
View File
@@ -100,9 +100,7 @@ bool Ekf::collect_gps(const gps_message &gps)
if (_params.vdist_sensor_type == VDIST_SENSOR_GPS) {
ECL_INFO_TIMESTAMPED("GPS checks passed (WGS-84 origin set, using GPS height)");
setControlGPSHeight();
// zero the sensor offset
_hgt_sensor_offset = 0.0f;
startGpsHgtFusion();
} else {
ECL_INFO_TIMESTAMPED("GPS checks passed (WGS-84 origin set)");
}