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Waiting for the filter to be initialized to set global origin

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Loic Dubois 2021-02-11 18:05:21 +01:00 committed by Daniel Agar
parent 602e65146c
commit ffab483504
1 changed files with 1 additions and 1 deletions
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2
EKF/gps_checks.cpp
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@ -61,7 +61,7 @@ bool Ekf::collect_gps(const gps_message &gps)
// Run GPS checks always
_gps_checks_passed = gps_is_good(gps);
if (!_NED_origin_initialised && _gps_checks_passed) {
if (_filter_initialised && !_NED_origin_initialised && _gps_checks_passed) {
// If we have good GPS data set the origin's WGS-84 position to the last gps fix
const double lat = gps.lat * 1.0e-7;
const double lon = gps.lon * 1.0e-7;