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EKF: Use consistent test for navigation validity reporting

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This will enable controller to take advantage of non-inertial dead reckoning.
This commit is contained in:
Paul Riseborough
2017-10-20 14:44:38 +11:00
parent 19074fdd9e
commit e10ec59058
2 changed files with 4 additions and 7 deletions
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EKF/estimator_interface.cpp
+2 -4
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@@ -464,8 +464,6 @@ void EstimatorInterface::unallocate_buffers()
bool EstimatorInterface::local_position_is_valid()
{
// return true if the position estimate is valid
return (((_time_last_imu - _time_last_optflow) < 5e6) && _control_status.flags.opt_flow) ||
(((_time_last_imu - _time_last_ext_vision) < 5e6) && _control_status.flags.ev_pos) ||
global_position_is_valid();
// return true if we are not doing unconstrained free inertial navigation
return !inertial_dead_reckoning();
}