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EKF - Initialize _deadrekon_time_exceeded to true.

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If no sample have been received, deadrekoning and local position should be invalid.
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bresch
2019-06-28 10:46:53 +02:00
committed by Daniel Agar
parent a036cf82cc
commit e1751188fd
1 changed files with 1 additions and 1 deletions
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EKF/estimator_interface.h
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@@ -492,7 +492,7 @@ protected:
innovation_fault_status_u _innov_check_fail_status{}; 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 _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 bool _is_wind_dead_reckoning{false}; // true if we are navigationg reliant on wind relative measurements
// IMU vibration and movement monitoring // IMU vibration and movement monitoring