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EKF: scale GPS vertical accuracy check when using optical flow

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This commit is contained in:
Paul Riseborough
2018-06-09 22:23:55 +02:00
committed by Lorenz Meier
parent fc9f532c34
commit 7f36add241
1 changed files with 4 additions and 5 deletions
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EKF/gps_checks.cpp
+4 -5
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@@ -118,19 +118,18 @@ bool Ekf::gps_is_good(struct gps_message *gps)
// Check the geometric dilution of precision // Check the geometric dilution of precision
_gps_check_fail_status.flags.gdop = (gps->gdop > _params.req_gdop); _gps_check_fail_status.flags.gdop = (gps->gdop > _params.req_gdop);
// Check the reported horizontal position accuracy // Check the reported horizontal and vertical position accuracy
if (_control_status.flags.opt_flow) { if (_control_status.flags.opt_flow) {
// optical flow is used when low and slow and often in a confined environment // optical flow is used when low and slow and often in a confined environment
// so tighten required GPS accuracy that affects position hold // so tighten required GPS accuracy that affects position and altitude hold
// This also applies some hysteresis to the logic used to activate optical flow // This also applies some hysteresis to the logic used to activate optical flow
_gps_check_fail_status.flags.hacc = (gps->eph > 0.7f * _params.req_hacc); _gps_check_fail_status.flags.hacc = (gps->eph > 0.7f * _params.req_hacc);
_gps_check_fail_status.flags.vacc = (gps->epv > 0.7f * _params.req_vacc);
} else { } else {
_gps_check_fail_status.flags.hacc = (gps->eph > _params.req_hacc); _gps_check_fail_status.flags.hacc = (gps->eph > _params.req_hacc);
_gps_check_fail_status.flags.vacc = (gps->epv > _params.req_vacc);
} }
// Check the reported vertical position accuracy
_gps_check_fail_status.flags.vacc = (gps->epv > _params.req_vacc);
// Check the reported speed accuracy // Check the reported speed accuracy
if (_control_status.flags.opt_flow) { if (_control_status.flags.opt_flow) {
// Optical flow is used when low and slow and often in a confined environment // Optical flow is used when low and slow and often in a confined environment