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EKF: do not attempt to align FW yaw using GPS method if on ground

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This commit is contained in:
Paul Riseborough 2017-11-09 17:39:56 +11:00
parent 8f27d3fc54
commit f3e34eddc9
1 changed files with 2 additions and 2 deletions
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4
EKF/control.cpp
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@ -483,8 +483,8 @@ void Ekf::controlGpsFusion()
do_reset = do_reset || (_time_last_imu - _time_last_pos_fuse > 2 * _params.no_gps_timeout_max);
if (do_reset) {
// Reset states to the last GPS measurement
if (_control_status.flags.fixed_wing) {
// use GPS velocity data to cehck and correct yaw angle if a FW vehicle
if (_control_status.flags.fixed_wing && _control_status.flags.in_air) {
// if flying a fixed wing aircraft, do a complete reset that includes yaw
realignYawGPS();
}