fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-02 05:04:08 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge pull request #257 from PX4/pr-ekfBugFix

Browse Source 
EKF: Do not move EKF origin when performing GPS checks
This commit is contained in:
Paul Riseborough 2017-04-01 08:07:49 +10:00 committed by GitHub
commit 8f6c51e10e
1 changed files with 0 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
EKF/gps_checks.cpp
View File

@ -167,10 +167,6 @@ bool Ekf::gps_is_good(struct gps_message *gps)
_gps_check_fail_status.flags.hdrift = false;
}
// Save current position as the reference for next time
map_projection_init_timestamped(&_pos_ref, lat, lon, _time_last_imu);
_last_gps_origin_time_us = _time_last_imu;
// Calculate the vertical drift velocity and limit to 10x the threshold
vel_limit = 10.0f * _params.req_vdrift;
float velD = fminf(fmaxf((_gps_alt_ref - 1e-3f * (float)gps->alt) / dt, -vel_limit), vel_limit);