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EKF: prevent race condition between global position validity and eph reporting

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This commit is contained in:
Paul Riseborough
2018-04-21 13:04:04 -04:00
committed by Daniel Agar
parent fdabb9277f
commit 6e3403ce28
3 changed files with 40 additions and 32 deletions
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EKF/ekf_helper.cpp
+3 -2
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@@ -1291,8 +1291,9 @@ void Ekf::setDiag(float (&cov_mat)[_k_num_states][_k_num_states], uint8_t first,
bool Ekf::global_position_is_valid()
{
// return true if we are not doing unconstrained free inertial navigation and the origin is set
return (_NED_origin_initialised && !_deadreckon_time_exceeded);
// return true if the origin is set we are not doing unconstrained free inertial navigation
// and have not started using synthetic position observations to constrain drift
return (_NED_origin_initialised && !_deadreckon_time_exceeded && !_using_synthetic_position);
}
// return true if we are totally reliant on inertial dead-reckoning for position