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Fix to allow filter correction with vision position estimate

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ggregory8
2014-06-22 09:53:33 +08:00
parent 57a7e76406
commit 78b7ba33a5
1 changed files with 2 additions and 2 deletions
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src/modules/position_estimator_inav/position_estimator_inav_main.c
+2 -2
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@@ -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) epv += 0.005 * dt; // add 1m to EPV each 200s (baro drift)
/* use GPS if it's valid and reference position initialized */ /* 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_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; 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) */ /* use flow if it's valid and (accurate or no GPS available) */
bool use_flow = flow_valid && (flow_accurate || !use_gps_xy); bool use_flow = flow_valid && (flow_accurate || !use_gps_xy);