fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-17 00:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

AttPosEKF: Only fuse GPS velocity if they are valid

Browse Source
This commit is contained in:
Johan Jansen
2015-04-18 17:23:19 +02:00
committed by Lorenz Meier
parent 2e824bbeea
commit b7a6f18ca6
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+1 -1
View File
@@ -937,7 +937,7 @@ void AttitudePositionEstimatorEKF::updateSensorFusion(const bool fuseGPS, const
// Convert GPS measurements to Pos NE, hgt and Vel NED
// set fusion flags
_ekf->fuseVelData = true;
_ekf->fuseVelData = _gps.vel_ned_valid;
_ekf->fusePosData = true;
// recall states stored at time of measurement after adjusting for delays