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InertialNav: do not reset velocity after glitch clears

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This commit is contained in:
Randy Mackay 2014-08-04 11:31:46 +09:00
parent 7b9fa1ea79
commit 009f42b2e1
1 changed files with 0 additions and 3 deletions
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3
libraries/AP_InertialNav/AP_InertialNav.cpp
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@ -185,8 +185,6 @@ void AP_InertialNav::correct_with_gps(uint32_t now, int32_t lon, int32_t lat)
// reset the inertial nav position and velocity to gps values
if (_flags.gps_glitching) {
set_position_xy(x,y);
set_velocity_xy(_ahrs.get_gps().velocity().x * 100.0f,
_ahrs.get_gps().velocity().y * 100.0f);
_position_error.x = 0.0f;
_position_error.y = 0.0f;
}else{
@ -334,7 +332,6 @@ void AP_InertialNav::correct_with_baro(float baro_alt, float dt)
// reset the inertial nav alt to baro alt
if (_flags.baro_glitching) {
set_altitude(baro_alt);
set_velocity_z(_baro.get_climb_rate() * 100.0f);
_position_error.z = 0.0f;
}else{
// 3rd order samples (i.e. position from baro) are delayed by 150ms (15 iterations at 100hz)