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ecl : update to version that fixes wind relative dead reckoning bug

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This commit is contained in:
Paul Riseborough
2018-04-24 00:02:48 -04:00
committed by Daniel Agar
parent 35cb2d0a9e
commit cbb4559c15
2 changed files with 6 additions and 5 deletions
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src/modules/ekf2/ekf2_main.cpp
+5 -4
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@@ -1117,9 +1117,8 @@ void Ekf2::run()
lpos.dist_bottom_rate = -lpos.vz; // Distance to bottom surface (ground) change rate
bool dead_reckoning;
_ekf.get_ekf_lpos_accuracy(&lpos.eph, &lpos.epv, &dead_reckoning);
_ekf.get_ekf_vel_accuracy(&lpos.evh, &lpos.evv, &dead_reckoning);
_ekf.get_ekf_lpos_accuracy(&lpos.eph, &lpos.epv);
_ekf.get_ekf_vel_accuracy(&lpos.evh, &lpos.evv);
// get state reset information of position and velocity
_ekf.get_posD_reset(&lpos.delta_z, &lpos.z_reset_counter);
@@ -1161,7 +1160,9 @@ void Ekf2::run()
global_pos.yaw = lpos.yaw; // Yaw in radians -PI..+PI.
_ekf.get_ekf_gpos_accuracy(&global_pos.eph, &global_pos.epv, &global_pos.dead_reckoning);
_ekf.get_ekf_gpos_accuracy(&global_pos.eph, &global_pos.epv);
global_pos.dead_reckoning = _ekf.inertial_dead_reckoning();
global_pos.terrain_alt_valid = lpos.dist_bottom_valid;