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'vehicle_global_position' topic updated: removed baro_alt and XXX_valid flags.

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Anton Babushkin
2014-03-27 00:27:11 +04:00
parent e2305d93bd
commit 83da4ae02d
10 changed files with 77 additions and 90 deletions
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src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+1 -1
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@@ -407,7 +407,7 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
vel(2) = gps.vel_d_m_s;
}
} else if (ekf_params.acc_comp == 2 && global_pos.global_valid && hrt_absolute_time() < global_pos.timestamp + 500000) {
} else if (ekf_params.acc_comp == 2 && gps.eph_m < 5.0f && global_pos.timestamp != 0 && hrt_absolute_time() < global_pos.timestamp + 20000) {
vel_valid = true;
if (global_pos_updated) {
vel_t = global_pos.timestamp;