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EKF: Extend range of conditions over which we run GPS quality checks

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Previously GPS quality checks were only run until the EKF origin was set. This meant that they could not be used by other pre-flight checks.
This change ensures that checks will always be run when the vehicle on-ground or not using GPS to enable use by external preflight checks.
This commit is contained in:
Paul Riseborough
2017-03-18 17:40:18 +11:00
parent ed2938c8a4
commit a1ff219380
1 changed files with 6 additions and 5 deletions
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EKF/gps_checks.cpp
+6 -5
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@@ -57,11 +57,12 @@
bool Ekf::collect_gps(uint64_t time_usec, struct gps_message *gps)
{
// If we have defined the WGS-84 position of the NED origin, run gps quality checks until they pass, then define the origins WGS-84 position using the last GPS fix
if (!_NED_origin_initialised) {
// we have good GPS data so can now set the origin's WGS-84 position
if (gps_is_good(gps) && !_NED_origin_initialised) {
// Set the origin's WGS-84 position to the last gps fix
// Run GPS checks whenever the WGS-84 origin is not set or the vehicle is not using GPS
// Also run checks if the vehicle is on-ground as the check data can be used by vehicle pre-flight checks
if (!_control_status.flags.in_air || !_NED_origin_initialised || !_control_status.flags.gps) {
bool gps_checks_pass = gps_is_good(gps);
if (!_NED_origin_initialised && gps_checks_pass) {
// If we have good GPS data set the origin's WGS-84 position to the last gps fix
double lat = gps->lat / 1.0e7;
double lon = gps->lon / 1.0e7;
map_projection_init_timestamped(&_pos_ref, lat, lon, _time_last_imu);