From e1751188fd15b799cbfae86bd7373bb91206069b Mon Sep 17 00:00:00 2001 From: bresch Date: Fri, 28 Jun 2019 10:46:53 +0200 Subject: [PATCH] EKF - Initialize _deadrekon_time_exceeded to true. If no sample have been received, deadrekoning and local position should be invalid. --- EKF/estimator_interface.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/EKF/estimator_interface.h b/EKF/estimator_interface.h index 24e99a2b4c..8ebb16c2f7 100644 --- a/EKF/estimator_interface.h +++ b/EKF/estimator_interface.h @@ -492,7 +492,7 @@ protected: innovation_fault_status_u _innov_check_fail_status{}; bool _is_dead_reckoning{false}; // true if we are no longer fusing measurements that constrain horizontal velocity drift - bool _deadreckon_time_exceeded{false}; // true if the horizontal nav solution has been deadreckoning for too long and is invalid + bool _deadreckon_time_exceeded{true}; // true if the horizontal nav solution has been deadreckoning for too long and is invalid bool _is_wind_dead_reckoning{false}; // true if we are navigationg reliant on wind relative measurements // IMU vibration and movement monitoring