From 8eb5aeaae3154f3faa6ac493ddc3d6aefdbaecc0 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 1 Sep 2014 21:04:27 +0200 Subject: [PATCH] Use vision for heading reference whenever available, independent of GPS --- .../attitude_estimator_ekf/attitude_estimator_ekf_main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp index 6bbc26a650..cd7c56b878 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp @@ -457,7 +457,7 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds orb_copy(ORB_ID(vision_position_estimate), vision_sub, &vision); } - if (vision.timestamp_boot > 0 && (hrt_elapsed_time(&vision.timestamp_boot) < 500000) && gps.eph > 3.0f) { + if (vision.timestamp_boot > 0 && (hrt_elapsed_time(&vision.timestamp_boot) < 500000)) { math::Quaternion q(vision.q); math::Matrix<3, 3> R = q.to_dcm();