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ekf2: new kconfig to enable/disable GNSS (enabled by default)

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Daniel Agar
2023-10-11 14:02:34 -04:00
committed by GitHub
parent 2d78383296
commit d2b3e7fe16
24 changed files with 476 additions and 331 deletions
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src/modules/ekf2/EKF/gps_checks.cpp
+10
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@@ -271,3 +271,13 @@ bool Ekf::gps_is_good(const gpsMessage &gps)
// continuous period without fail of x seconds required to return a healthy status
return isTimedOut(_last_gps_fail_us, (uint64_t)_min_gps_health_time_us);
}
void Ekf::resetGpsDriftCheckFilters()
{
_gps_velNE_filt.setZero();
_gps_pos_deriv_filt.setZero();
_gps_horizontal_position_drift_rate_m_s = NAN;
_gps_vertical_position_drift_rate_m_s = NAN;
_gps_filtered_horizontal_velocity_m_s = NAN;
}