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EKF: Use consistent validity definition for global position reporting

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This commit is contained in:
Paul Riseborough
2018-04-19 09:59:02 +10:00
committed by Daniel Agar
parent 31142c0322
commit fdabb9277f
1 changed files with 1 additions and 5 deletions
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EKF/ekf_helper.cpp
+1 -5
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@@ -988,12 +988,8 @@ void Ekf::get_ekf_gpos_accuracy(float *ekf_eph, float *ekf_epv, bool *dead_recko
// TODO - allow for baro drift in vertical position error
float hpos_err;
float vpos_err;
bool vel_pos_aiding = (_control_status.flags.gps ||
_control_status.flags.opt_flow ||
_control_status.flags.ev_pos ||
(_control_status.flags.fuse_beta && _control_status.flags.fuse_aspd));
if (vel_pos_aiding && _NED_origin_initialised) {
if (global_position_is_valid()) {
hpos_err = sqrtf(P[7][7] + P[8][8] + sq(_gps_origin_eph));
vpos_err = sqrtf(P[9][9] + sq(_gps_origin_epv));