fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: only populate gnss pos aid src status if ref initialized

Browse Source 
- this is a minor logging improvement when plotting the position from the beginning of the log (often a replay session)
This commit is contained in:
Daniel Agar 2024-02-15 13:13:10 -05:00 committed by GitHub
parent 84a7d42566
commit 8dc3975456
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
1 changed files with 4 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
src/modules/ekf2/EKF/gps_control.cpp
View File

@ -80,8 +80,11 @@ void Ekf::controlGpsFusion(const imuSample &imu_delayed)
}
}
if (_pos_ref.isInitialized()) {
updateGnssPos(gnss_sample, _aid_src_gnss_pos);
}
updateGnssVel(gnss_sample, _aid_src_gnss_vel);
updateGnssPos(gnss_sample, _aid_src_gnss_pos);
} else if (_control_status.flags.gps) {
if (!isNewestSampleRecent(_time_last_gps_buffer_push, _params.reset_timeout_max)) {