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ekf2: only trigger position timeout reset when hpos fusion is active

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bresch
2024-05-29 20:49:14 -04:00
committed by Daniel Agar
parent 0379048ad2
commit 993782cffa
1 changed files with 2 additions and 1 deletions
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src/modules/ekf2/EKF/aid_sources/gnss/gps_control.cpp
+2 -1
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@@ -320,7 +320,8 @@ bool Ekf::shouldResetGpsFusion() const
#endif // CONFIG_EKF2_OPTICAL_FLOW
const bool is_reset_required = has_horizontal_aiding_timed_out
|| isTimedOut(_time_last_hor_pos_fuse, 2 * _params.reset_timeout_max);
|| (isTimedOut(_time_last_hor_pos_fuse, 2 * _params.reset_timeout_max)
&& (_params.gnss_ctrl & static_cast<int32_t>(GnssCtrl::HPOS)));
const bool is_inflight_nav_failure = _control_status.flags.in_air
&& isTimedOut(_time_last_hor_vel_fuse, _params.reset_timeout_max)