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EKF: update initial angle alignment check

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This commit is contained in:
Paul Riseborough
2016-05-05 21:23:03 +10:00
parent bc34b14779
commit 727a43764f
4 changed files with 3 additions and 15 deletions
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EKF/vel_pos_fusion.cpp
-2
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@@ -176,13 +176,11 @@ void Ekf::fuseVelPosHeight()
// record the successful velocity fusion time
if (vel_check_pass && _fuse_hor_vel) {
_time_last_vel_fuse = _time_last_imu;
_tilt_err_vec.setZero();
}
// record the successful position fusion time
if (pos_check_pass && _fuse_pos) {
_time_last_pos_fuse = _time_last_imu;
_tilt_err_vec.setZero();
}
// record the successful height fusion time