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ekf2: gps control lazily check yaw_failure() only after in_air

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murata,katsutoshi
2024-03-26 19:50:57 -04:00
committed by GitHub
parent 3aac8f36e6
commit 749f88b62b
1 changed files with 2 additions and 2 deletions
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src/modules/ekf2/EKF/gps_control.cpp
+2 -2
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@@ -123,8 +123,8 @@ void Ekf::controlGpsFusion(const imuSample &imu_delayed)
bool do_vel_pos_reset = shouldResetGpsFusion();
if (isYawFailure()
&& _control_status.flags.in_air
if (_control_status.flags.in_air
&& isYawFailure()
&& isTimedOut(_time_last_hor_vel_fuse, _params.EKFGSF_reset_delay)
&& (_time_last_hor_vel_fuse > _time_last_on_ground_us)) {
do_vel_pos_reset = tryYawEmergencyReset();