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Stop using bad GPS when we have vision velocity

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kamilritz
2019-09-17 13:47:18 +02:00
committed by Paul Riseborough
parent bd8f05567a
commit e7d927c899
1 changed files with 1 additions and 1 deletions
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EKF/control.cpp
+1 -1
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@@ -652,7 +652,7 @@ void Ekf::controlGpsFusion()
}
// Handle the case where we are using GPS and another source of aiding and GPS is failing checks
if (_control_status.flags.gps && gps_checks_failing && (_control_status.flags.opt_flow || _control_status.flags.ev_pos)) {
if (_control_status.flags.gps && gps_checks_failing && (_control_status.flags.opt_flow || _control_status.flags.ev_pos || _control_status.flags.ev_vel)) {
_control_status.flags.gps = false;
// Reset position state to external vision if we are going to use absolute values
if (_control_status.flags.ev_pos && !(_params.fusion_mode & MASK_ROTATE_EV)) {