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EKF: Fix bug causing repeated resets if GPS sensor disconnected

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This commit is contained in:
Paul Riseborough 2016-11-05 09:36:06 +11:00
parent 2bc50489fd
commit 8aee45dd96
1 changed files with 2 additions and 2 deletions
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4
EKF/control.cpp
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@ -405,8 +405,8 @@ void Ekf::controlGpsFusion()
}
} else {
// handle the case where we do not have GPS and have not been using it for an extended period
if ((_time_last_imu - _time_last_gps > 10e6) && (_time_last_imu - _time_last_airspeed > 1e6) && (_time_last_imu - _time_last_optflow > 1e6)) {
// handle the case where we do not have GPS and have not been using it for an extended period, but are still relying on it
if ((_time_last_imu - _time_last_gps > 10e6) && (_time_last_imu - _time_last_airspeed > 1e6) && (_time_last_imu - _time_last_optflow > 1e6) && _control_status.flags.gps) {
// if we don't have a source of aiding to constrain attitude drift,
// then we need to switch to the non-aiding mode, zero the velocity states
// and set the synthetic GPS position to the current estimate