fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-20 13:43:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Ekf: use helper functions to centralize the checks of horizontal aiding (gps, flow, ev_pos, ev_vel)

Browse Source
This commit is contained in:
bresch
2020-01-24 17:22:50 +04:00
committed by Kabir Mohammed
parent a3e1eb9d50
commit e3af91c9ce
5 changed files with 59 additions and 30 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/gps_checks.cpp
+1 -1
View File
@@ -67,7 +67,7 @@ bool Ekf::collect_gps(const gps_message &gps)
map_projection_init_timestamped(&_pos_ref, lat, lon, _time_last_imu);
// if we are already doing aiding, correct for the change in position since the EKF started navigationg
if (_control_status.flags.opt_flow || _control_status.flags.gps || _control_status.flags.ev_pos || _control_status.flags.ev_vel) {
if (isHorizontalAidingActive()) {
double est_lat, est_lon;
map_projection_reproject(&_pos_ref, -_state.pos(0), -_state.pos(1), &est_lat, &est_lon);
map_projection_init_timestamped(&_pos_ref, est_lat, est_lon, _time_last_imu);