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EKF2 GPS blending: reset relative position offsets if blending not feasible

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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
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CarlOlsson
2020-03-04 16:46:20 +01:00
committed by Mathieu Bresciani
parent 2b087a92c2
commit a10a228092
1 changed files with 5 additions and 0 deletions
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src/modules/ekf2/ekf2_main.cpp
+5
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@@ -973,6 +973,11 @@ void Ekf2::Run()
// Only use selected receiver data if it has been updated
_gps_new_output_data = (gps1_updated && _gps_select_index == 0) ||
(gps2_updated && _gps_select_index == 1);
// Reset relative position offsets to zero
_NE_pos_offset_m[0].zero();
_NE_pos_offset_m[1].zero();
_hgt_offset_mm[0] = _hgt_offset_mm[1] = 0.0f;
}
if (_gps_new_output_data) {