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ekf2: send global position if origin is set manually

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Even if the aiding is local only, a valid global estimate can be sent as
long as we know the EKF's origin.
This commit is contained in:
bresch
2023-08-26 14:48:49 -04:00
committed by Daniel Agar
parent f1b5b4f524
commit 9551c1b614
5 changed files with 90 additions and 7 deletions
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src/modules/ekf2/EKF/gps_checks.cpp
+2 -2
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@@ -85,8 +85,8 @@ bool Ekf::collect_gps(const gpsMessage &gps)
_NED_origin_initialised = true;
// save the horizontal and vertical position uncertainty of the origin
_gps_origin_eph = gps.eph;
_gps_origin_epv = gps.epv;
_gpos_origin_eph = gps.eph;
_gpos_origin_epv = gps.epv;
_information_events.flags.gps_checks_passed = true;
ECL_INFO("GPS checks passed");