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ekf: force fallback to baro if GPS is stopped while in GPS height mode

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Otherwise, no height aiding source is used
This commit is contained in:
bresch
2021-10-26 10:05:28 +02:00
committed by Mathieu Bresciani
parent 0a140ec59a
commit 8873e92c7c
1 changed files with 5 additions and 1 deletions
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src/modules/ekf2/EKF/ekf_helper.cpp
+5 -1
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@@ -1509,7 +1509,11 @@ void Ekf::stopGpsFusion()
void Ekf::stopGpsPosFusion() void Ekf::stopGpsPosFusion()
{ {
_control_status.flags.gps = false; _control_status.flags.gps = false;
_control_status.flags.gps_hgt = false;
if (_control_status.flags.gps_hgt) {
startBaroHgtFusion();
}
_gps_pos_innov.setZero(); _gps_pos_innov.setZero();
_gps_pos_innov_var.setZero(); _gps_pos_innov_var.setZero();
_gps_pos_test_ratio.setZero(); _gps_pos_test_ratio.setZero();