fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-27 21:50:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fix to allow filter correction with vision position estimate

Browse Source
This commit is contained in:
ggregory8
2014-06-22 09:53:33 +08:00
parent 57a7e76406
commit 78b7ba33a5
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/position_estimator_inav/position_estimator_inav_main.c
+2 -2
View File
@@ -781,8 +781,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
epv += 0.005 * dt; // add 1m to EPV each 200s (baro drift)
/* use GPS if it's valid and reference position initialized */
bool use_gps_xy = ref_inited && gps_valid && params.w_xy_gps_p > MIN_VALID_W;
bool use_gps_z = ref_inited && gps_valid && params.w_z_gps_p > MIN_VALID_W;
bool use_gps_xy = (ref_inited && gps_valid && params.w_xy_gps_p > MIN_VALID_W) || vision_valid;
bool use_gps_z = (ref_inited && gps_valid && params.w_z_gps_p > MIN_VALID_W) || vision_valid;
/* use flow if it's valid and (accurate or no GPS available) */
bool use_flow = flow_valid && (flow_accurate || !use_gps_xy);