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EKF: Do not move EKF origin when performing GPS checks

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Doing so can casue large jumps in GPS position and innovation check errors after landing and also reduces the effectiveness of pre-flight innovation consistency checks.
This commit is contained in:
Paul Riseborough
2017-03-31 16:19:30 +11:00
parent 6d9b556b04
commit 710b2bcb9f
1 changed files with 0 additions and 4 deletions
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EKF/gps_checks.cpp
-4
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@@ -167,10 +167,6 @@ bool Ekf::gps_is_good(struct gps_message *gps)
_gps_check_fail_status.flags.hdrift = false; _gps_check_fail_status.flags.hdrift = false;
} }
// Save current position as the reference for next time
map_projection_init_timestamped(&_pos_ref, lat, lon, _time_last_imu);
_last_gps_origin_time_us = _time_last_imu;
// Calculate the vertical drift velocity and limit to 10x the threshold // Calculate the vertical drift velocity and limit to 10x the threshold
vel_limit = 10.0f * _params.req_vdrift; vel_limit = 10.0f * _params.req_vdrift;
float velD = fminf(fmaxf((_gps_alt_ref - 1e-3f * (float)gps->alt) / dt, -vel_limit), vel_limit); float velD = fminf(fmaxf((_gps_alt_ref - 1e-3f * (float)gps->alt) / dt, -vel_limit), vel_limit);