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EKF: don't accept GPS data without a 3D lock

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Paul Riseborough
2017-03-09 16:15:01 +11:00
committed by Lorenz Meier
parent 588b27bde7
commit 9bb54ccc08
1 changed files with 1 additions and 1 deletions
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EKF/estimator_interface.cpp
+1 -1
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@@ -178,7 +178,7 @@ void EstimatorInterface::setGpsData(uint64_t time_usec, struct gps_message *gps)
// limit data rate to prevent data being lost
bool need_gps = (_params.fusion_mode & MASK_USE_GPS) || (_params.vdist_sensor_type == VDIST_SENSOR_GPS);
if (((time_usec - _time_last_gps) > _min_obs_interval_us) && need_gps) {
if (((time_usec - _time_last_gps) > _min_obs_interval_us) && need_gps && gps->fix_type > 2) {
gpsSample gps_sample_new = {};
gps_sample_new.time_us = gps->time_usec - _params.gps_delay_ms * 1000;