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EKF: Ensure use of EV aiding inhibits use of other height sources

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Paul Riseborough
2016-05-14 21:17:29 +10:00
parent cf1df5861a
commit ac9b7a3df6
2 changed files with 11 additions and 3 deletions
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EKF/vel_pos_fusion.cpp
+1 -1
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@@ -120,7 +120,7 @@ void Ekf::fuseVelPosHeight()
}
if (_fuse_height) {
if (_control_status.flags.baro_hgt && !_control_status.flags.gps && !_control_status.flags.ev_pos && !(_control_status.flags.rng_hgt && (_R_to_earth(2, 2) > 0.7071f))) {
if (_control_status.flags.baro_hgt) {
fuse_map[5] = true;
// vertical position innovation - baro measurement has opposite sign to earth z axis
_vel_pos_innov[5] = _state.pos(2) + _baro_sample_delayed.hgt - _baro_hgt_offset - _hgt_sensor_offset;